摘要
为室内移动机器人配送、运输等场景提供自主化、智能化的导航技术方案,对自主移动机器人的定位方法进行了研究。参考ROS(机器人操作系统)中成熟的开源导航框架,机器人平台在其粒子滤波定位模块进行改进。针对模块中初始化定位与过程定位的不足,提出了一种结合视觉与陀螺仪的传感器数据,参考数据关联与多传感器融合思路的方法。最后实验结果表明,改进方法效果更稳定更准确,可满足室内移动机器人大部分配送、运输等场景使用。
To provide navigation technology solutions for indoor mobile robot working intelligently in transport,this article researched on the location of autonomous mobile robot.By reference to the mature open source navigation framework in ROS(Robot Operating System),the robot platformisimproved its particle filter location module.Aiming at the insufficiency of initial location and process location in the module,a methodincludingvision and gyroscope sensor data which follows data association and multi-sensor fusion ideas is proposed.Finally,the experimental results show that the improved method is more stable and accurate,and can be used for most of transport scene.
作者
叶泳骏
陈新度
吴磊
刁世普
YE Yong-jun;CHEN Xin-du;WU Lei;DIAO Shi-pu(Guangdong Provincial Key Laboratory of Computer Integrated Manufacturing,Guangdong University of Technology,Guangzhou 510006,China;State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment,Guangdong University of Technology,Guangzhou 510006,China;College of Electromechanical,Guangdong Polytechnic Normal University,Guangzhou 510665,China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第11期1-4,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
佛山市核心技术攻关项目(1920001001367)
广州市科技计划项目(201902010054,006238574087)
河源市科技计划项目(201028171471889)。
