从粒子滤波效率主要取决于粒子集更新的思路出发,提出一种基于离散状态空间的移动机器人粒子滤波定位方法(Discrete space particle filter,DSPF)。根据定位系统误差,将机器人运行空间划分为变精度栅格作为样本粒子描述离散系统模型。...从粒子滤波效率主要取决于粒子集更新的思路出发,提出一种基于离散状态空间的移动机器人粒子滤波定位方法(Discrete space particle filter,DSPF)。根据定位系统误差,将机器人运行空间划分为变精度栅格作为样本粒子描述离散系统模型。地图预处理阶段获取栅格粒子的激光扫描数据,预存为栅格粒子特征。粒子权值更新时,将粒子离散化近似为栅格粒子,采用预存粒子特征进行激光扫描数据匹配,避免粒子特征的实时提取,提高了滤波更新效率。同时采用基于离散后验概率分布与当前粒子集分布之间Kullback-Leibler距离检验方法,自适应选择栅格粒子,平衡滤波效率和定位精度,能够有效解决机器人'绑架'问题。仿真结果表明,DSPF能够显著提高定位效率,并保证滤波精度。展开更多
A novel fiber Bragg grating(FBG)displacement sensor is proposed,which can achieve wide measuring range displacement detection with variable measurement precision due to its mechanical transfer structure of helical bev...A novel fiber Bragg grating(FBG)displacement sensor is proposed,which can achieve wide measuring range displacement detection with variable measurement precision due to its mechanical transfer structure of helical bevel gear.A prototype is designed and fabricated.The maximum detection displacement of this prototype is 1.751 m,and the precision grade changes from 0.2%to 6.7%.Through analyzing the experiment data which is obtained in the calibration experiment,the measuring range of this sensor is from 0 m to 1.532 m,and the wavelength shift errors between experiment data and theory calculation are all less than 5%.展开更多
文摘从粒子滤波效率主要取决于粒子集更新的思路出发,提出一种基于离散状态空间的移动机器人粒子滤波定位方法(Discrete space particle filter,DSPF)。根据定位系统误差,将机器人运行空间划分为变精度栅格作为样本粒子描述离散系统模型。地图预处理阶段获取栅格粒子的激光扫描数据,预存为栅格粒子特征。粒子权值更新时,将粒子离散化近似为栅格粒子,采用预存粒子特征进行激光扫描数据匹配,避免粒子特征的实时提取,提高了滤波更新效率。同时采用基于离散后验概率分布与当前粒子集分布之间Kullback-Leibler距离检验方法,自适应选择栅格粒子,平衡滤波效率和定位精度,能够有效解决机器人'绑架'问题。仿真结果表明,DSPF能够显著提高定位效率,并保证滤波精度。
基金supported by the National Natural Science Foundation of China(Nos.61174018,41472260 and 41202206)
文摘A novel fiber Bragg grating(FBG)displacement sensor is proposed,which can achieve wide measuring range displacement detection with variable measurement precision due to its mechanical transfer structure of helical bevel gear.A prototype is designed and fabricated.The maximum detection displacement of this prototype is 1.751 m,and the precision grade changes from 0.2%to 6.7%.Through analyzing the experiment data which is obtained in the calibration experiment,the measuring range of this sensor is from 0 m to 1.532 m,and the wavelength shift errors between experiment data and theory calculation are all less than 5%.
