收稿日期: 2012-02-17
修回日期: 2012-06-11
网络出版日期: 2012-06-11
基金资助
机器人学国家重点实验室基金(R2200703)资助
Omni-directional stepping robotic system based on cellular grid map
Received date: 2012-02-17
Revised date: 2012-06-11
Online published: 2012-06-11
余翀 . 基于蜂窝地图的全方位步进式机器人系统[J]. 中国科学院大学学报, 2013 , 30(3) : 394 -402 . DOI: 10.7523/j.issn.1002-1175.2013.03.018
We design and implement an omni-directional stepping robotic system based on cellular grid map to provide physical services in intelligent space. By analyzing and modeling the mobile platform in mechanics, kinematics, and dynamics, we design the robot suitable on cellular grid map, with the help of high-precision optical odometer based on FPGA and of laser calibration device. Based on multi-dimensional sensor data fusion, we make the path planning task into two stages: six-directional local path planning and global path planning based on TSP optimization of genetic algorithm. Experiments show the accuracy and robustness of the system during the actual operation.
Key words： intelligent space; stepping robot; data fusion; cellular grid map; path planning
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