SIA OpenIR  > 其他
基于地图学习的移动机器人定位技术研究
Alternative TitleMobile Robot Localization Technique Based on Map Learning
杜振军; 曲道奎; 徐方; 贾凯
Department其他
Source Publication仪器仪表学报
ISSN0254-3087
2010
Volume31Issue:S2Pages:382-388
Indexed ByEI
EI Accession number20111113746650
Contribution Rank1
Keyword移动机器人 定位 地图学习
Abstract室内移动机器人的定位问题一直是移动机器人学的研究热点和难点,目前没有统一的室内移动机器人定位标准和通用解决方案。本文提出的方法,把未知环境中的同步定位与环境建模问题分解成为基于人工路标的地图学习和基于已学习地图的定位两个阶段,这种方法降低了导航系统适应未知环境的难度,同时在定位阶段也不需要对未知环境的路标(特征)进行重复的预测、观测和更新,从而降低了算法的复杂度。特别的,当机器人发生"诱拐"现象和"路标迷失"现象时,本文提出的算法仍然能保持良好的定位性能,仿真实验证明了上述算法的有效性。  
Other AbstractMobile robot localization in indoor environment has been the hot and difficult problem in mobile robotics, and there are no localization standards and common solutions yet. The method proposed in this paper decomposes the simultaneous localization and mapping problem in an unknown environment into two phases: map learning based on artificial landmark and localization based on learned map. This method simplifies the difficulty level for a navigation system to adapt to an unknown environment, and it is not necessary for a robot to repeatedly predict, measure and upgrades the landmark in localization phase and reduces the complexity of the algorithm. The experiment results show the effectiveness of this algorithm, in particular, when the robot happened to be "kidnapped" or unable to see the landmark for a period of time, the proposed algorithm can still keep good localization performance.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7479
Collection其他
Affiliation1.中国科学院沈阳自动化研究所 沈阳 110016
2.沈阳新松机器人自动化股份有限公司 沈阳 110016
3.中国科学院研究生院 北京 100049
Recommended Citation
GB/T 7714
杜振军,曲道奎,徐方,等. 基于地图学习的移动机器人定位技术研究[J]. 仪器仪表学报,2010,31(S2):382-388.
APA 杜振军,曲道奎,徐方,&贾凯.(2010).基于地图学习的移动机器人定位技术研究.仪器仪表学报,31(S2),382-388.
MLA 杜振军,et al."基于地图学习的移动机器人定位技术研究".仪器仪表学报 31.S2(2010):382-388.
Files in This Item:
File Name/Size DocType Version Access License
ZWQK000830.pdf(866KB)期刊论文出版稿开放获取ODC PDDLView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[杜振军]'s Articles
[曲道奎]'s Articles
[徐方]'s Articles
Baidu academic
Similar articles in Baidu academic
[杜振军]'s Articles
[曲道奎]'s Articles
[徐方]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[杜振军]'s Articles
[曲道奎]'s Articles
[徐方]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ZWQK000830.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.