采用混合方案的移动运输机器人的定位与跟踪

Positioning and Tracking of Mobile Transport Robot Using Hybrid Scheme

针对全向移动运输机器人的定位与跟踪,提出了一种获得实时位置跟踪的混合式方案。首先,采用基于IEEE802.15.4a无线传感器网络标准的NanoLOC无线传感器网络作为通信和全局实时定位系统,以获得距离测量值;其次,为了利用这种带有噪声的距离测量值准确地估计移动运输机器人的姿态和路径,提出了采用基于贝叶斯滤波的粒子滤波方法来对基于NanoLOC距离测量值进行处理,同时采用激光测距仪作为地标检测,为对接操纵提供精确定位;实验结果表明提出的定位方案具有较小的跟踪误差。

In this paper,a hybrid scheme for real-time position tracking is proposed for positioning and tracking of omnidirectional mobile transport robot.Firstly,the NanoLOC wireless sensor network based on IEEE 802.15.4 a wireless sensor network standard is used as the communication and global real-time positioning system in order to obtain range measurements.Secondly,in order to estimate the pose and path of a mobile transport robot accurately by using noisy measurements,a particle filter method based on Bayesian filter is proposed to process the NanoLOC range measurements,while the laser range finder is used to detect landmarks and to provide accurate positioning for docking maneuvers.The experimental results show that the proposed positioning scheme has a less tracking error.