基于粒子滤波的运动机器人目标定位

机器人完成各种应用的前提是准确获知自身及运动目标的相对位置,由于机器人在运动控制的过程中自身携带的传感器获取的位置和角度信息存在误差,会导致移动机器人在目标定位过程中出现误差。为提高定位的准确性,提出了基于相对定位的方法,建立目标运动的相对运动模型,并基于观测距离和角度的测量方程运用粒子滤波方法对运动目标进行定位,实验与仿真结果表明,在不同强度的非高斯噪声影响下,粒子滤波算法都能够有效的对其进行定位,且具良好的精度。

Target location of mobile robot based on particle filtering

The premise of the robot to complete various applications is to accurately know the relative position of itself and the moving target. Because the position and angle information acquired by the sensor carried by the robot in the process of motion control has errors, the mobile robot will have errors in the target positioning process. In order to improve the accuracy of positioning, a relative motion based method to establish the relative motion model of the target motion is proposed, and the particle filter method to locate the moving target based on the measurement equation of the observation distance and angle is used. The experimental and simulation results show that under the influence of non-Gaussian noise with different intensities, the particle filter algorithm can effectively locate it with good precision.