摘要
针对基于路标组的机器人定位方法中存在的定位不确定性问题,提出一种基于多元M序列的人工路标设置方法.利用多元M序列的最长周期特性,使用最少种类的路标,生成满足路标组全局唯一性要求的路标设置方案.该方法通过减少路标种类来扩大路标特征差异,进而提高定位对测量噪声的抗干扰能力.该方法在变电站巡检机器人系统平台上的实验,以及在不同测量噪声条件下的仿真结果,表明了其有效性.
In view of the uncertainty in landmark group based robot localization, an artificial landmark distribution method based on multi-ary M-sequence is proposed. The longest period characteristic of M-sequence is utilized to generate landmark distribution, which satisfies that all landmark groups are globally unique, with least landmark species. The difference among landmarks is expanded by reducing the landmark species, and thus the anti-interference ability of localization is improved. The efficiency of the proposed method is demonstrated by results of experiments on the substation inspection robot system and simulations under different measurement noises.
出处
《机器人》
EI
CSCD
北大核心
2014年第1期29-35,共7页
Robot
基金
国际热核聚变实验堆(ITER)计划专项(国内研究)(2012GB102001)
国家自然科学基金资助项目(60934006)
关键词
M序列
巡检机器人
全局定位
人工路标
M-sequence
inspection robot
global localization
artificial landmark
