摘要
采用激光测距雷达作为机器人的外部传感器,里程计和惯性导航系统作为内部传感器,对室外移动机器人环境地图已知情况下的定位问题进行了研究。根据定位系统的特点建立了系统的运动模型和观测模型,考虑到系统的不确定性,提出了一种基于混合模型的系统误差描述方法,同时采用扩展卡尔曼滤波对多传感器信息进行了融合,仿真试验的结果表明该定位系统具有较高的定位精度。
This article describes a method for outdoor mobile robot localization based on a prior map. In the localization system, a laser range finder is used as outer sensor, odometry and inertial system are used as inner sensors. The motion model and measurement model are designed according to the factor of the robot. A hybrid model is put forward to describe the possible uncertainty during the localization. The multi-sensor information is fused through an extended kalman filter, simulation results show that this localization system has a high precision.
