基于红外传感器的移动微机器人定位研究

Research on localization of mobile microrobot based on infrared sensor

综合概率论的思想,采用基于红外传感器的微机器人粒子滤波定位方法在已知环境中实现微机器人的自定位。因微机器人受尺寸效应影响无法安装位置传感器,故采用计步的方法存储机器人的运动信息。观测模型采用适合小尺寸微型机器人的红外测距地图匹配方式。因微机器人的存储能力有限,故采用分块存储地图的方法,便于微机器人快速加载地图而完成地图匹配,从而加速其定位过程。实验验证了微机器人的定位性能。

Synthesizing the idea of probability theory, use particle filtering positioning method of microrobot based on infrared sensor for self-localization of microrobot in known environment. Position sensor can not be installed in microrobot due to size effect, so motion information is stored by step method. Observation model uses the map matching method with infrared distance measurement map, which is suitable for small size microrobot. Because of limited storage capability of microrobot, method of block storage map is used, to suitable for mierorobot rapid loading map and complete the map matching, so as to accelerate process of localization. Localization characteristics is verified by experiments.