摘要
针对未知环境下移动机器人定位问题,常用的方法是利用激光测距仪进行环境信息扫描匹配,从而求取相对位姿来计算当前位姿值。而大多数扫描匹配算法都是基于迭代最近点ICP算法,针对该算法存在的问题,相继有人提出了IDC、MBICP等改进算法。首先介绍了基于传统ICP扫描匹配算法的定位方法 ,然后给出一种基于MBICP算法的陪护机器人自主定位方法,并对实际应用中需要解决的几个关键问题进行重点说明。最后进行仿真实验,对比了ICP和MBICP两种算法的优劣,并通过实验验证了MBICP算法应用于陪护机器人定位的有效性。
This paper introduces a location method based on the traditional lCP algorithm.Then a chaperonage robot＇s au-tonomous localization method is proposed which based on MBlCP algorithm.And several key problems need to be solved in practical application are highlighted.Final y,simulation experiments are carried out to compare lCP and MBlCP.Furthermore, Practice experiment verified the validity of localization of chaperonage robot based on MBlCP algorithm.
出处
《工业控制计算机》
2015年第9期42-44,47,共4页
Industrial Control Computer
基金
国家自然科学基金项目(61005092)
