摘要
该文根据在室外非结构化环境中实现区域充满运行的一类移动机器人的工作特点,提出了利用组合定位系统和数字地图匹配算法对机器人进行导航定位的一种策略。利用基于环境特征位置探测和数字地图信息匹配相结合对定位误差进行修正的方法来提高机器人导航定位精度。该方法克服了传统导航定位方法存在累积误差和系统复杂、成本高等缺点。经实验验证:该文提出的定位系统和误差修正的方法能满足移动机器人区域充满运行的定位精度要求。
According to the operating features of the area-covering mobile robots working in the outdoor unstructured environment, a strategy of navigation and localization is proposed. The localization system with combined sensors and the matching algorithm using the digital map serve the robot to navigate in the work area. The method of error-correction based on the environmental features is adopted. The features are matched with the digital map to correct the localization errors in the robot＇ s real-time coverage operation. The proposed method overcomes the disadvantages of great accumulative errors, complicated system configuration and high cost by using the traditional navigation methods. The localization system and the error-correction method in this paper can ensure the accurate area-covering behaviors of the robot.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2006年第2期199-202,共4页
Journal of Nanjing University of Science and Technology
关键词
移动机器人
区域覆盖
导航
定位
mobile robots
area covering
navigation
localization
