| 多传感器融合机器人室内定位系统设计与实现 |
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| 引用本文： | 张凯渊,刘佩林,钱久超,裴凌. 多传感器融合机器人室内定位系统设计与实现[J]. 黑龙江电子技术, 2014, 0(11): 83-87 |
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| 作者姓名： | 张凯渊 刘佩林 钱久超 裴凌 |
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| 作者单位： | 上海交通大学电子信息与电气工程学院,上海200240 |
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| 基金项目： | 中国卫星导航系统管理办公室（北斗办）和上海市科学技术委员会联合资助课题（BDZX005） |
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| 摘 要： | 目前,室内机器人的应用越来越广,位置信息作为机器人自主技术的基本信息,亟需完善的室内定位系统解决方案.对基于多传感器融合的室内机器人定位系统进行设计与实现,以航位推算为基础方法,加之超声、激光测距信息以及地图信息,通过粒子滤波进行融合,从而得到更精确的定位信息.通过具体的实验测试和结果分析,文中设计的室内机器人定位系统具有很好的定位效果,可在航位推算的基础上,将定位误差降低到原误差的十分之一.
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| 关 键 词： | 机器人室内定位 多传感器融合 粒子滤波 航位推算 地图匹配 |
Design and implementation of multi-sensor fused robot indoor localization system |
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| ZHANG Kai-yuan,LIU Pei-lin,QIAN Jiu-chao,PEI Ling. Design and implementation of multi-sensor fused robot indoor localization system[J]. , 2014, 0(11): 83-87 |
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| Authors: | ZHANG Kai-yuan LIU Pei-lin QIAN Jiu-chao PEI Ling |
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| Affiliation: | ( School of Electron Information and Electric Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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| Abstract: | Recently, indoor robots are being more and more widely used. As basic information for robotic independence,location information need a proper system solution for indoor localization. This main work of this paper is to design and implement a multi-sensor fused indoor localization system. The system is based on particle filter, using dead reckoning （DR）as the basic method, fusing the information from ultrasonic and laser sensors, and from maps. The output of the system will be more accurate. After the several experiments and analysis, the indoor robot localization system performs well. The localization error can be reduced to 10% of the original accuracy error from DR. |
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| Keywords: | robot indoor localization multi-sensor fusion particle filter dead reckoning mapmatching |
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