| 融合粒子滤波和环境标签矫正的巡检机器人自主定位算法 |
| |
| 作者姓名： | 迟清 万康鸿 袁福祥 李良书 吴经锋 李文慧 杨鼎革 辛健斌 |
| |
| 作者单位： | 国网陕西省电力公司;国网陕西电力检修公司;国网陕西电力科学研究院;郑州大学电气工程学院 |
| |
| 基金项目： | 国家自然科学基金资助项目(61703372);国家电网有限公司科技项目(520600180003)。 |
| |
| 摘 要： | 随着巡检机器人的需求量增加,巡检机器人在复杂环境中的自主定位问题越来越重要。提出了融合粒子滤波和环境标签矫正的自主定位算法,充分利用巡检机器人的工作环境特性和蒙特卡罗定位算法的特性,提高机器人自主定位的效率和效果。基于ROS建立了机器人仿真环境,对定位算法的效果进行了测试。实验结果表明融合粒子滤波和环境标签矫正的自主定位算法的效率和准确性有所提高,能够很快实现定位恢复。
|
| 关 键 词： | 巡检机器人 蒙特卡罗自适应定位 粒子滤波 环境标签矫正 |
Autonomous Localization Algorithm of Inspection Robot Based on Particle Filter and Environmental Label Correction |
| |
| Authors: | CHI Qing WAN Kanghong YUAN Fuxiang LI Liangshu WU Jingfeng LI Wenhui YANG Dingge XIN Jianbin |
| |
| Affiliation: | (State Grid Shaanxi Electric Power Corp.,Xi’an 710048,China;State Grid Shaanxi Electric Power Maintenance Company,Xi’an 710075,China;State Grid Shaanxi Electric Power Research Institute,Xi’an 710100,China;School of Electrical Engineering,Zhengzhou University,Zhengzhou 450001,China) |
| |
| Abstract: | With the increasing demand of inspection robot,autonomous localization of inspection robot in complex environment becomes more and more important.An autonomous positioning algorithm is proposed combining particle filter and environmental label correction,which makes full use of the work environment characteristics of inspection robot and the characteristics of Monte Carlo positioning algorithm to improve the efficiency of robot autonomous positioning rate and effect.A robot simulation environment is established based on ROS,and the effect of the localization algorithm is tested.The results show that the efficiency and accuracy of the autonomous localization algorithm which integrates particle filter and environmental label correction are improved,location recovery can be quickly achieved. |
| |
| Keywords: | inspection robot AMCL particle filter environment label correction |
| 本文献已被 维普 等数据库收录！ |
