Design of Location System for Autonomous Robot Based on Grid Line
Jiang Chao-gen · Measurement & Control Technology · 2010
A novel location system designed to solve the problem of antonomous robot moving in the planar region where has different color grid line,is proposed.16-bits microcontroller MC9S12DG128B produced by Freescale is chosen as the core of signal detection and data processing,the strapdown inertial navigation is adopted as the main method.The coordinate and moving direction is figured out by collecting the robot's acceleration and angular velocity information continuously.In order to resolve the accumulative error caused by long-distance navigation,photoelectric sensor array is used to calibrate the error and improve the location precision.The experiment results show that the system program is feasible.