| WANG Bo(王 波)*,ZHU Ping*,ZHENG Qingsong*,YANG Jiaqi**.[J].高技术通讯(英文),2025,31(1):20~31 |
|
| Design of mobile stage location system based on two-dimensional laser radar |
| |
| DOI：10. 3772 / j. issn. 1006-6748. 2025. 01. 003 |
| 中文关键词: |
| 英文关键词: mobile stage positioning, laser radar, Kalman filter, distributed fusion |
| 基金项目: |
| Author Name | Affiliation | | WANG Bo(王 波)* | (*Yiwu Industrial and Commercial College, Yiwu 322000, P. R. China)
(**Department of Automation, Zhejiang University of Technology, Zhejiang Provincial United Key Laboratory
of Embedded Systems, Hangzhou 310032, P. R. China) | | ZHU Ping* | | | ZHENG Qingsong* | | | YANG Jiaqi** | |
|
| Hits: 26 |
| Download times: 34 |
| 中文摘要: |
| |
| 英文摘要: |
| This paper addresses the design problem of an embedded mobile stage location system based on a two-dimensional laser radar. The mobile stage is a piece of important performance equipment in art performances, and the positioning problem is one of the key issues in the control of the mobile stage.Both hardware and software are developed for the mobile stage. The hardware of the location system consists of a laser radar, an embedded control board, a wireless router, and a motion control unit.The software of the location system includes embedded software and human-machine interface (HMI), and they are designed to achieve the functions of real-time positioning and monitoring.First, a novel landmark identification method is presented based on the landmark reflection intensities and shapes. Then, the initial pose of the mobile stage is calculated by using the triangle matching algorithm and the least squares method. A distributed fusion Kalman filtering algorithm is applied to fuse landmark information and odometer information to achieve real-time positioning of the mobile stage. The designed system has been implemented in a practical mobile stage, and the results demonstrate that the location system can achieve a high positioning precision in both the stationary and moving scenarios. |
|
View Full Text
View/Add Comment Download reader |
| Close |
|
|
|
