基于激光信息的移动机器人定位研究

针对移动机器人在导航定位过程中,使用传统蒙特卡罗定位算法会产生粒子收敛较慢和定位精度不高,以及发生人为绑架情况后重定位效率较低的问题,给出了一种改进的粒子滤波定位方法来提高移动机器人的导航定位效率.首先,在蒙特卡罗定位算法的基础上进行改进,融入自适应区域划分的方法,保证所划区域包含更多有效信息,减少粒子的收敛时间,完成...

Research on positioning of mobile robot based on laser information

Aiming at the problems of slower particle convergence and poor positioning accuracy when using traditional Monte Carlopositioning algorithms in the navigation and positioning process of mobile robots, as well as low relocation efficiency after artificialkidnapping, this article gives an improved Particle filter positioning method to improve the navigation and positioning efficiency of mobilerobots. First of all, it is improved on the basis of the Monte Carlo positioning algorithm and integrated into the method of adaptive regiondivision to ensure that the region contains more effective information, reduce the convergence time of particles, and complete thepreliminary coarse positioning of the robot. Then, in the particle sampling and resampling stage, the normal distribution probabilitymodel is used to update the particle weights to achieve faster and more efficient global positioning. Through experimental comparison andanalysis, compared with the Monte Carlo positioning algorithm, the given method has shortened the time consumption by 4 s, and theadaptive Monte Carlo positioning method in this paper can keep the positioning error at about 6 cm, thus verifying the given methodEffectiveness and stability.