微型机器人集群短距离相对定位方法

Short Range Relative Localization Method of Microrobot Cluster

摘要:

对平面内微机器人集群短距离相对定位问题进行了研究,针对微机器人尺寸小的特点,利用红外发送器、红外接收器和磁阻传感器相配合的方法实现了微型机器人集群的相对定位,分析了该相对定位方法的误差来源。仿真计算和实验结果证明了上述方法的可行性。提出的相对定位方法具有精度高、无积累误差、分布式、快速和可扩展等优点。

Abstract:

The problem of relative localization of in-plane micorobot cluster was studied. According to the characteristics of the small size of microrobot, a simple relative positioning approach based on one infrared emitter, receiver and magnetoresistive sensor was presented. The error source of the relative positioning method was analyzed. The simulation and experimental results demonstrated the feasibility of this method. This method shows advantages of high accuracy and no accumulated error, and presents distributed, fast and extensible merits.