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GPS定位与地图匹配方法研究 总被引:14,自引:1,他引:14
由于标准定位服务(SPS)的固有误差和市区环境的共同影响,使得GPS的导航精度难于满足车辆导航的需求.另外,从GPS获得的是参心大地坐标系的大地纬度和大地经度,而在大多数实际应用中,采用的国家坐标系或城市地方坐标系都不相同,因此有必要进行坐标变换.本文介绍了GPS定位原理、GPS所使用的WGS-84坐标系、我国常用的坐标系、高斯投影,采用最短距离法进行地图匹配,通过实验证明该算法能够实现GPS定位与道路实时、可靠的匹配. 相似文献
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提出一种改进的粒子滤波SLAM(simultaneous localization and map building)同时定位和地图创建实现方法。改进方法让机器人大约行进10步完成基于局部已创建地图下的粒子滤波定位后,再利用激光传感器探测环境并更新创建的地图;同时在利用粒子滤波定位时,使粒子只分布在由航位推算法得出的机器人位姿附近,从而可有效地减少粒子的数量。实验结果表明,与标准的粒子滤波SLAM 算法比较,改进算法提高了机器人SLAM过程中定位和地图创建的精度和实时性,并为移动机器人在室外未知环境同时定位和地图创建提供了新方法。 相似文献
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针对移动机器人传统的室内环境导航方法比较单一,无法适应多场景等问题,本文将传统的基于ROS平台的Navigation功能框架的导航方法与AprilTag标签算法相结合进行导航系统的设计。该系统采用Gmapping算法和AMCL算法分别完成环境建图与机器人定位,然后通过Navigation功能框架获取环境地图与机器人位姿信息进行路径规划,并且在此基础上结合AprilTag标签算法进行机器人的导航设计。实验结果表明,该系统构建的环境地图精度较高,能够实现对机器人的有效定位,且Navigation功能框架与AprilTag标签相结合的导航系统能更好地适应多场景。 相似文献
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针对导航定位系统是变电站设备巡检机器人的关键技术之一,设计了一种由光纤陀螺仪、里程仪、加速度计、差分GPS和FPGA/DSP构成的导航计算机组成的硬件系统,并基于差分GPS定位、航位推算(DR)导航原理设计了该组合导航系统软件,系统采用了初始自寻北、切换式组合导航定位方式,该方法简单易行、实用性较强,实验表明该系统能为变电站设备巡检机器人提供连续、实时、较高精度的导航定位. 相似文献
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《Advanced Robotics》2013,27(7):749-762
This paper proposes a method of robot navigation in outdoor environments based upon panoramic view and Global Positioning System (GPS) information. Our system is equipped with a GPS navigator and a camera. The route scene can be described by three-dimensional objects extracted as landmarks from panoramic representations. For an environment having limited routes, a two-dimensional map can be made based upon routes scenes, assuming that the topological relation of routes at intersections is known. By using GPS information, the global position of a mobile robot can be known, and a coarse-to-fine method is used to generate an outdoor environment map and locate a mobile robot. First, a robot finds its approximate position based on the GPS information. Then, it identifies its location from the image information. Experimental results in outdoor environments are given. 相似文献
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《Advanced Robotics》2013,27(6):611-635
This paper describes outdoor navigation for a mobile robot by using differential GPS (DGPS) and odometry in a campus walkway environment. The robot position is estimated by fusion of DGPS and odometry. The GPS receiver measures its position by radio waves from GPS satellites. The error of GPS measurement data increases near high buildings and trees because of multi-path and forward diffractions. Thus, it is necessary to pick up only accurate DGPS measurement data when the robot position is modified by fusing DGPS and odometry. In this paper, typical DGPS measurement data observed near high buildings and trees are reported. Then, the authors propose a novel position correction method by fusing GPS and odometry. Fusion of DGPS and odometry is realized using an extended Kalman filter framework. Moreover, outdoor navigation for a mobile robot is accomplished by using the proposed correction method. 相似文献
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针对传统的SLAM(Simultaneous Localization and Mapping)算法构建地图时容易受环境因素和外界条件的的影响,在非线性系统状态下误差修正能力不足,且当机器人位姿都处于未知状态时,移动机器人位姿获取不精确,地图构建SLAM技术特征量的获取比较繁琐、不准确等问题。以电力巡检机器人为平台,研究了基于全局匹配的扫描算法,摒弃传统的栅格地图模型的插值方法,采用双线性滤波的插值方法,保证子栅格单元的精确性,估算栅格占用函数的概率和导数。最后采用此算法解决了SLAM地图构建的问题,并分别在室内室外环境进行实验。实验结果表明:基于激光测距仪的全局匹配扫描的SALM算法,在室内室外两种不同环境下,不受复杂背景的影响,准确地进行机器人位姿定位,以及环境地图的构建 相似文献
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针对未知环境中六足机器人的自主导航问题,设计了一种基于模糊神经网络的自主导航闭环控制算法,并依据该算法设计了六足机器人的导航控制系统.算法融合了模糊控制的逻辑推理能力与神经网络的学习训练能力,并引入闭环控制方法对算法进行优化.所设计的控制系统由信息输入、模糊神经网络、指令执行以及信息反馈4个模块组成.环境及位置信息的感知由GPS(全球定位系统)传感器、电子罗盘传感器和超声波传感器共同完成.采用C语言重建模糊神经网络控制算法,并应用于该系统.通过仿真实验,从理论上论证了基于模糊神经网络的闭环控制算法性能优于开环控制算法,闭环控制算法能够减小六足机器人在遇到障碍物时所绕行的距离,行进速度提高了6.14%,行进时间缩短了8.74%.在此基础上,开展了实物试验.试验结果表明,该控制系统能够实现六足机器人自主导航避障控制功能,相对于开环控制系统,能有效地缩短行进路径,行进速度提高了5.66%,行进时间缩短了7.25%,验证了闭环控制系统的可行性和实用性. 相似文献
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随着GIS、LBS技术和移动互联网技术等核心技术的发展,服务于普通大众的个人导航系统成为应用热点。室内行走引导是个人导航系统的核心之一,其中涉及的室内定位技术一直是研究的难点之一。基于固定式RFID标签群,生成室内位置地图,将随身移动式RFID读写器和个人智能手机相结合,完成室内定位、路径计算和导航提醒。基于上述设计方案,完成了一个基于RFID的南京大学校园导航系统,并将其投入了实际使用。 相似文献
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《Advanced Robotics》2013,27(13-14):1751-1771
GPS and laser range finders are generally utilized in current robot navigation. However, information from the magnetic field and electronic compass is not, since it is dynamically changing at every position. In this paper, the relationship between the intensity of a magnetic field in the environment and its position is taken into account by utilizing a three-axis magnetic sensor to scan the magnetic field in the environment to build a database. The mobile robot navigates by performing trajectory tracking based on the database. The experimental results show that by applying the proposed method, the mobile robot is able to navigate in an outdoor environment with reliable accuracy. 相似文献
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《Advanced Robotics》2013,27(14):1617-1634
This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of navigation among movable obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to reach a desired goal location. The planned strategy consists of a sequence of walking and compliant manipulation operations. It is executed by the robot with online feedback. We give an overview of our NAMO system, as well as provide details of the autonomous planning, online grasping and compliant hand positioning during dynamically stable walking. Finally, we present results of a successful implementation running on the humanoid robot HRP-2. 相似文献
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基于视觉的同时定位与地图构建方法综述 总被引:4,自引:1,他引:3
基于视觉的自主导航与路径规划是移动机器人研究的关键技术,对基于视觉的计算机导航与同时定位及地图构建(SLAM)方法近三十年的发展进行了总结和展望。将视觉导航分为室内导航和室外导航,并详细阐述了每一种子类型的特点和方法。对于室内视觉导航,列举了经典导航模型和技术方法,探讨了解决SLAM问题的最新进展:HTM-SLAM算法和基于特征的算法;对室外视觉导航,阐述了国际国内目前的研究动态。 相似文献