| 一种鲁棒高效的移动机器人定位方法 |
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| 引用本文： | 方正, 佟国峰, 徐心和. 一种鲁棒高效的移动机器人定位方法. 自动化学报, 2007, 33(1): 48-53. doi: 10.1360/aas-007-0048 |
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| 作者姓名： | 方正 佟国峰 徐心和 |
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| 作者单位： | 1.东北大学教育部暨辽宁省流程工业综合自动化重点实验室 沈阳 110004 2. 东北大学人工智能与机器人研究所 沈阳 110004 |
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| 摘 要： | 摘要利用基于自适应粒子滤波与地图匹配方法实现了机器人的自定位. 提出了一种采用距离相似性度量以及几何相似性度量的二次更新方法，对常规的基于激光测距仪的粒子滤波定位方法进行了改进，既增强了系统的鲁棒性，又提高了系统的计算效率. 仿真结果表明，移动机器人利用该定位方法可以在室内环境中利用自然特征进行鲁棒高效的自定位.
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| 关 键 词： | 自适应粒子滤波 地图匹配 激光测距仪 自定位 |
| 收稿时间： | 2005-08-16 |
| 修稿时间： | 2006-02-08 |
A Robust and Effcient Algorithm for Mobile Robot Localization |
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| FANG Zheng, TONG Guo-Feng, XU Xin-He. A Robust and Effcient Algorithm for Mobile Robot Localization. ACTA AUTOMATICA SINICA, 2007, 33(1): 48-53. doi: 10.1360/aas-007-0048 |
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| Authors: | FANG Zheng TONG Guo-Feng XU Xin-He |
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| Affiliation: | 1. Key Laboratory of Process Industry Automation of MOE and Liaoning Province, Northeastern University, Shenyang 1100042. Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang 110004 |
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| Abstract: | Robot self-localization is realized by using adaptive particle filter scheme with map-matching algorithm. A two-phase-updating method based on similarity measurements of range and geometry is proposed to improve the performance of general particle filter localization which uses a laser range finder. The algorithm not only enhances the robustness of the system, but also increases the computational efficiency. Simulation results demonstrate that by using the proposed algorithm and nature characteristics in indoor environment, mobile robot can localize itself accurately and robustly. |
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| Keywords: | Adaptive particle filter map-matching laser range finder self-localization |
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