摘要
研究移动机器人智能定位优化问题,在分析传统的移动机器人定位的过程中,由于在定位时存在误匹配造成不准确,传统的移动机器人自身携带传感器对周围环境观测具有局限性。为了提高有效定位,提出利用智能空间中的单个全局摄像机作为外部传感器,可采用Monte Carlo方法解决移动机器人定位,并进行仿真,实验表明,全局摄像机能够有效地辅助移动机器人在全局环境中定位,Monte Carlo算法利用全局摄像机的观测信息,使定位有良好的性能效果。
The sensors carried by traditional mobile robot are limited in observing surrounding environment.Based on the explaining of traditional mobile robot localization process,this paper introduced the global camera of Smart Space as an external sensor and Monte Carlo algorithm based on the kernel ideal of sampling.Theoretical analysis and simulation experiments prove that global camera can effectively support the mobile robot positioning in the global environment,and by using the global camera observation information,Monte Carlo self-localization algorithm shows its robust global localization capability.
出处
《计算机仿真》
CSCD
北大核心
2011年第10期165-167,172,共4页
Computer Simulation
基金
国家自然科学基金(60975062)
