改进粒子滤波在WSN辅助机器人定位中的应用  

Application of Improved Particle Filter in WSN-aided Robot Localization

作　　者：李勇[1] 张辉[1] 渠瀛[1] 周华平[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《计算机仿真》2010年第5期166-169,193,共5页Computer Simulation

摘　　要：针对无线传感器网络(WSN)辅助机器人定位问题,提出了一种改进的粒子滤波算法。为提供精确定位,在粒子滤波算法中引入节点置信度概念,给出了节点置信度的数学表达式,用于实现节点间的信息融合。新算法通过计算节点置信度,选择置信度高的节点参与辅助机器人定位;根据节点置信度,还可以确定每个节点对粒子更新的影响程度。开发了一种新的基于USARSim的无线传感器网络-机器人系统仿真平台,利用平台对新算法进行了验证。仿真实验结果表明,提出的算法机器人定位精度高,粒子滤波收敛速度快,仿真平台符合无线传感器网络辅助机器人定位研究的需要。An improved Particle Filter algorithm is proposed for WSN -aided robot localization. This algorithm introduces node reliability and proposes its expression to realize information fusion among nodes. After having computed node reliability, sensor nodes with high reliability are selected to aid robot localization, and the effect on updating particles is ascertained according to their reliability. Furthermore, a novel simulation system for WSN - Robot based on USARSim is developed, which is used to test our algorithm in this paper. The simulation result shows the good performance of the proposed algorithm in precision of robot localization, the fast convergence speed of the particle fil- ter, and the conformity of the simulation system to the requirement of WSN - robot system research.

关 键 词：无线传感器网络 机器人定位 粒子滤波 节点置信度 信息融合 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]