路径规划移动机器人使用路径点进行气位映射

2017 International Seminar on Intelligent Technology and Its Applications (ISITIA) Pub Date : 2017-08-01 DOI:10.1109/ISITIA.2017.8124088

Richa Watiasih, M. Rivai, R. A. Wibowo, O. Penangsang

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引用次数: 14

摘要

该研究实现了路径规划移动机器人，该机器人配备了全球定位系统和用于测绘活动的气体传感器，以检测特定位置的有害气体。移动机器人在路径规划中利用航路点向暴露于危险气体的高风险场所移动。采用比例积分导数控制器对差动速度转向移动机器人进行控制。实验结果表明，该航路点的平均罗盘误差约为5%，GPS导航误差约为3米。风向和风速超过5 km/h影响气体浓度读数值。系统沿航路点路线的偏差距离小于5米，提供行程中气体液位信息作为信息地图的来源。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Path planning mobile robot using waypoint for gas level mapping

The study implemented the path planning mobile robot equipped with a Global Positioning System and a gas sensor for mapping activities to detect the harmful gases in a certain location. The mobile robot was moving to some high risk places exposed to some dangerous gases on the path planning by using the waypoint. Proportional Integral Derivative controller was used to control the differential speed steering mobile robot. The experimental results showed that the average compass error was about 5% and the GPS error in navigating the waypoint was about 3 meters. Wind direction and speed exceeding 5 km/h affected the value of gas concentration reading. The system has deviation distance of less than 5 meters in following the route of the waypoint providing the information of gas levels during the trip as a source of information map.

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来源期刊

2017 International Seminar on Intelligent Technology and Its Applications (ISITIA)

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