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室内移动机器人的初始定位的一种新方法 被引量：9

A Novel Method of Initial Localization for an Indoor Mobile Robot
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摘要 提出了一种基于“完整线段”匹配实现室内移动机器人初始定位的新方法。给出了完整线段的定义、性质和判定方法 ,详细介绍了该方法进行初始自定位的算法过程 ,并对一些特殊情况进行了讨论。用该方法进行初始定位的实验结果令人满意。 A complete line segment (CLS) based localization method is proposed to realize the initial localization for an indoor mobile robot. The definition of the CLS as well as its properties and decision rules is given. The whole algorithm including corresponding measurements to deal with some special cases is described in detail. The experiment result obtained showed our success.
作者 项志宇 刘济林
机构地区 浙江大学信电系信息与通信工程研究所
出处 《仪器仪表学报》 EI CAS CSCD 北大核心 2003年第1期65-68,85,共5页 Chinese Journal of Scientific Instrument
关键词 室内移动机器人 初始定位 激光测距雷达 完整线段 Mobile robots Localization Laser range finder CLS
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献6

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同被引文献60

  • 1范明聪,吴月华,许旻,杜华生,杨杰.高机动性越障机器人运动学分析与轨迹控制研究[J].光学精密工程,2004,12(z1):194-197. 被引量：6
  • 2段星光,黄强,李科杰.小型轮履腿复合式机器人设计及运动特性分析[J].机械工程学报,2005,41(8):108-114. 被引量：74
  • 3于春和,刘济林.越野环境下基于四线激光雷达的障碍检测[J].南京理工大学学报,2006,30(5):618-621. 被引量：9
  • 4刘万里,欧阳健飞,曲兴华,闫勇刚.Misalignment error calibration of faro retro probe for laser tracker system[J].Chinese Optics Letters,2007,5(5):281-283. 被引量：9
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引证文献9

二级引证文献44

仪器仪表学报
2003年 第1期

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