Designing Wheeled Active Olfaction Mobile Robot System and Its Positioning Method
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摘要: 在分析研究嗅觉定位理论原理的基础上,结合移动机器人技术,设计出一种能够自主完成气源定位的轮式机器人系统。该机器人系统是以Freescale半导体公司生产的16位MCU(MC9S12XDT512)为核心控制器,采用气体传感器阵列作为路径识别单元,结合轮式移动平台,配合Z字型控制搜索算法对轮式机器人进行控制完成了气体定位。在实验室现场测试中,以15 m作为起始距离,经过10次实验,误差小于5%,实现了气源定位的功能。在机器人行走机构设计上、实验方案的制定上进一步优化,则可有效地减小误差。Abstract: Based on the olfactory positioning theory,combined with the mobile robot technology,a kind of wheeledactive olfaction robot system that can complete the gas source localization autonomously was designed. The robotsystem uses the Freescale Semiconductor company's 16-bit MCU (MC9S12XDT512) as the core controller,usingthe gas sensor array as a path identification unit,combined with the wheeled mobile platform,using the zigzag con-trol algorithm to control the robot to complete the gas source localization. The robot system was tested under steadywind condition to locate the ethanol gas source. With 15 m as the start distance,and after 10 times locating,theerror is less than 5% and the experimental results show that the mobile robot system can locate gas sources.
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Key words:
- active olfaction /
- MCU /
- gas sensor array /
- gas source localization
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