室内自主式移动机器人定位方法研究

定位是确定机器人在其工作环境中所处位置的过程.应用各种传感器感知信息实现可靠的定位是自主式移动机器人最基本、也是最重要的一项功能之一.本文对室内自主式移动机器人的定位技术进行了综述,介绍了当前自主式移动机器人定位方法的研究现状.同时,对国内外具有典型性的研究方法进行了较详细的介绍,并重点提出了几种室内自主式移动机器人通用的定位方法,对其中的地图构造、位姿估计方法进行了详细介绍.最后,论述了自主式移动机器人定位系统与地图构造中所面临的主要问题及其解决方法并指出了该领域今后的研究方向.

Research on Localization Method for Indoor Autonomous Mobile Robot

Localization is the process of finding the position and orientation of the robot. Reliable localization based on sensors is one of the most fundamental and important tasks for autonomous mobile robots. This paper reviews the relevant indoor autonomous mobile robot localization technologies, introduces the present situation on the research of localization method for autonomous mobile robot. At the same time, some typical internal and foreign research methods were introduced in detail, and presents some general localization methods for indoor autonomous mobile robot especially introduces the map building and pose estimation methods. Finally, with an emphasis on the main problems of localization system and map building for autonomous mobile robot and solutions to them, future trend in this field is pointed out.