基于多传感器信息融合的机器人导航与定位技术研究

Research on Robot Navigation and Positioning Technology Based on Multi-Sensor Information Fusion

移动机器人已经服务于各个领域,作为室内移动机器人服务的前提是实现机器人精准定位。文章介绍了一种射频识别(Radio Frequency IDentification,RFID)和即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)多传感器融合库存盘点机器人精准导航与定位的方法。通过读取布置在环境中的RFID标签,获取机器人的大概位置信息和准确运动状态,然后结合SLAM技术实现精准定位。实验结果表明,该方法可以使库存盘点机器人精准定位,且系统搭建简单、成本低,对室内机器人定位具有参考价值。

Mobile robots have been serving in various fields,as the premise of indoor mobile robot services is to achieve accurate positioning of robots.This paper introduces an accurate navigation and positioning method of Radio Frequency IDentification(RFID)and Simultaneous Localization and Mapping(SLAM)multi-sensor fusion inventory robot.By reading the RFID tags arranged in the environment,the general position information and accurate motion state of the robot can be obtained,and then the precise positioning can be achieved by combining SLAM technology.The experimental results show that this method can make the inventory robot realize accurate positioning,the system is simple to build,low cost,and has reference value for indoor robot positioning.