基于PF算法的移动机器人定位研究

Research on Mobile Robot Location Based on PF Algorithm

针对移动机器人的智能化要求,提出了一种应用粒子滤波(PF)进行机器人定位的方法。通过分析激光雷达的识别观测模型和履带式机器人本体的运动特点,建立基于最优贝叶斯估计的PF位姿估计算法框架,避免了传统EKF定位算法在非线性系统应用中需要近似线性化、求取复杂雅克比矩阵等问题。在搭建的室内平台上进行了现场定位实验,结果表明该算法定位准确、稳定,具有更广泛的适应性。

For the intelligent requirements of mobile robots, a location method utilizing particle filter is proposed. Through analyzing the laser radar observation model and the motion information of crawler robot, a PF position estimation algorithm based on the optimal Bayesian estimation thesis is built, which avoids the problems existing in traditional EKF location algorithm, such as approximate linearization, complex Jacobi Matrix solving etc. The on-site location experiments based on the indoor platform prove that this location method is accurate and stable and has a wider range of adaptability.