摘要
多机器人协同工作可以提升电力设备巡检的工作效率、准确性和稳定性,但初始位置对应关系不清楚导致协同工作时信息一致性无法保障。在对单机器人SLAM算法和多机器人SLAM算法分析的基础上,结合粒子滤波器设计方法,提出了基于RBPF的多机器人SLAM算法。将提出的算法应用于有人穿越走廊且具有许多反射表面环境下的地图建造实验中,结果表明RBPF-SLAM算法能够有效地确保多机器人协同工作时信息的一致性,这对移动机器人在未知工作环境中的定位与地图构建具有一定的参考价值。
Multi-robot cooperative work can improve the efficiency,accuracy and stability of power equipment inspection,but the information consistency cannot be guaranteed when the initial position is not clear.Based on the analysis of single robot SLAM algorithm and multi-robot SLAM algorithm,combined with particle filter design method,this paper proposes a multi-robot SLAM algorithm based on RBPF.The results show that RBPF-SLAM algorithm can effectively ensure the consistency of information when multi robots work together,which has a certain reference value for mobile robot positioning and map building in unknown working environment.
作者
曾凌烽
高易年
王欣
Zeng Lingfeng;Gao Yinian;Wang Xin(Shenzhen Power Supply Co., Ltd., Guangdong Shenzhen, 518000, China;School of Computer Science and Technology,South China University of Technology, Guangdong Guangzhou, 510640, China)
出处
《机械设计与制造工程》
2021年第4期35-38,共4页
Machine Design and Manufacturing Engineering
