[1]王翰,蒋林,周亮.大环境下拓扑化栅格地图的多峰定位研究[J].燕山大学学报,2020,44(1):032-37.[doi:10.3969/j.issn.1007-791X.2020.01.005]
 WANG Han,JIANG Lin,ZHOU Liang.Research on multi-peak localization of topological grid map in large environment[J].Journal of YanShan University,2020,44(1):032-37.[doi:10.3969/j.issn.1007-791X.2020.01.005]
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大环境下拓扑化栅格地图的多峰定位研究
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
44
期数:
2020年第1期
页码:
032-37
栏目:
计算机与控制工程
出版日期:
2020-01-31

文章信息/Info

Title:
Research on multi-peak localization of topological grid map in large environment
文章编号:
1007-791X(2020)01-0032-06
作者:
王翰12蒋林12*周亮 1
1.武汉科技大学 机械传动与制造工程湖北省重点实验室, 湖北 武汉 430081;
2. 武汉科技大学 机器人与智能系统研究院, 湖北 武汉 430081

Author(s):
WANG Han12 JIANG Lin12 ZHOU Liang 1
1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology Wuhan, Hubei 430081,China;
2. Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan, Hubei 430081,China)

关键词:
室内机器人定位拓扑化栅格地图节点预匹配多峰粒子滤波算法
Keywords:
indoor robot localization topological grid map node pre-match multi-peak particle filter algorithm
分类号:
TP249
DOI:
10.3969/j.issn.1007-791X.2020.01.005
文献标志码:
A
摘要:
通过对室内移动机器人定位研究发现,粒子滤波定位算法在较大的环境下效率低而且定位不准确。为了解决这个问题,提出一种基于拓扑化栅格地图的多峰粒子滤波定位方法。根据室内环境的特征不同,将栅格地图中的不同区域划分为若干拓扑节点。拓扑化栅格地图可以将地图的信息表现得更加简洁。通过对地图中不同的节点进行一次预匹配,来加快机器人定位的效率和准确性,同时为了消弭相似节点带来的影响,最后通过多峰粒子滤波的方法完成机器人的定位。实验结果证明该方法可以有效解决大环境中机器人定位不准确和效率低下等问题,可以帮助机器人实现大环境中的准确而快速定位。

Abstract:
Through the research on the localization of indoor mobile robots, it is found that the particle filter localization algorithm is inefficient and inaccurate in large environments. In order to solve this problem, a multi-peak particle filter localization method based on topological raster map is proposed. According to the characteristics of the indoor environment, different areas in the grid map are divided into several topological nodes. Topological raster maps can make the information of the map more concise. By pre-matching different nodes in the map, the efficiency and accuracy of robot localization are accelerated. At the same time, in order to eliminate the influence of similar nodes, the multi-peak particle filtering method is used to complete the localization of the robot. The experimental results show that the method can effectively solve the problems of inaccurate localization and low efficiency of robots in the large environment, and can help the robot to achieve accurate and fast localization in the large environment.

备注/Memo

备注/Memo:
收稿日期:2018-08-20        责任编辑:孙峰
基金项目:湖北省自然科学基金资助项目(2018CFB626) ;机器人与智能系统研究院开放基金项目(F201803) 
作者简介:王翰(1994-),男,湖北黄冈人,硕士研究生,主要研究方向为机器人定位与导航;*通信作者:蒋林(1976-),男,湖北荆门人,博士,教授,主要研究方向为液压机器人规划与导航,Email:jianglin76@wust.edu.cn。

更新日期/Last Update: 2020-03-20