摘要
针对移动机器人在未知环境中的定位问题,通过对移动机器人在未知环境中的运动分析, 结合多传感器信息,提出了一种新的移动机器人在未知环境中的定位算法。该算法可根据移动机器人的运动过程,不断更新其位置状态,对下一步位置状态进行预估计,根据实测传感器信息对预估值进行修正,获得实际位置状态。仿真实验表明本算法的有效性。
A fundamental problem for a mobile robot is to locate itself in its environment. In this paper, analyze the motion of snake - like robot in an unknown condition, combine the information of multi - sensor and put forward a kind of position algorithm of snake - like robot in an unknown condition. This algorithm may continuously update position states and estimate the next position according to the motion of robot. Then it can correct estimate value and obtain factual position states in the light of factual inspection sensors information. The simulation indicates that this arithmetic is effective.
出处
《电机与控制学报》
EI
CSCD
北大核心
2005年第5期428-431,共4页
Electric Machines and Control
关键词
移动机器人
多传感器
定位算法
mobile robot
multi - sensor
localization algorithm
