【摘要】 根据微小型仿生六足机器人的作业任务和工作环境要求,搭建一套基于嵌入式数字信号处理器TMS320VC 5509A DSP和Superstar Ⅱ GPS接收板卡的机器人导航系统。采用Marconi Binary串行数据传输标准协议采集全球定位系统(GPS)的定位数据,提出用切面投影定位法对GPS提供的定位数据进行坐标转换,并根据转换后的结果对仿生六足机器人的航迹进行修正。实验结果表明该导航定位系统具有良好的实时性和定位精度。更多还原

【Abstract】 This paper establishes a navigation and localization system of biologically inspired hexapod robot based on the TMS320VC 5509A DSP and Superstar Ⅱ GPS receiver.In order to improve the navigation system’s real-time performance,Marconi Binary serial data communication protocol is used,and a novel coordinate transform and navigation algorithm is proposed.The approach is implemented and tested under experimental environments,which demonstrates its real-time performance,effectiveness,robustness and high efficiency.更多还原