一种鲁棒的室内移动机器人定位方法

A Robust Method of Localization for an Indoor Mobile Robot

该文意图解决移动机器人在室内环境中定位难的问题,提出了卡尔曼滤波定位方法。移动机器人依靠自身配置的声纳传感器感知环境,并提取环境中的墙角作为几何特征,通过预测值与实际观测值之间匹配和修正的循环过程实现了该定位算法,实验结果表明该方法是鲁棒的。

This paper aims at resolving the difficult problem of mobile robot localization for indoor environment,and puts forward the Kalman Filter Localization algorithm.Mobile robot detects environment depending on self-configured sonar sensor,and obtains the corners in environment as the geometrical features.This paper realizes the localization algorithm via matching and updating cycle process between prediction and real observation.In the last,experiment results show the robustness of this localization algorithm.