移动机器人激光超声定位系统

A Localization System for Mobile Robot Using Scanning Laser and Ultrasonic Measurement

本文提出了一种基于激光超声技术来实现移动机器人定位的方法。基于惯性导航系统的陀螺仪来提供机器人实时的方向和位置信息,新型的激光超声绝对定位系统消除机器人在惯性导航系统中方向和位置的累计误差。基于传感器、环境观测和机器人的运动建立了相应的模型,并以扩展卡尔曼滤波技术将多种传感器的信息进行融合,从而最终实现了移动机器人的精确定位。

A novel method for mobile robot positioning based on Using Scanning Laser and Ultrasonic Measurement is proposed.A gyroscope based dead reckoning system is first employed to provide momentary but real-time heading and position information for the robot.Then,a novel scanning laser and ultrasonic absolute positioning system is developed to eliminate the accumulative error in dead reckoned robot heading and position.The system models including sensors,observation and robot kinematics are set up.The extended Kalman filter（EKF） technique is adopted to fuse information from all above sensors and finally the accurate positioning result is achieved.