基于激光测距的温室移动机器人全局定位方法  

Method of Mobile Robot Global Localization Based on Laser Range Finder in Greenhouse

作　　者：刘洞波[1,2] 刘国荣[1,2] 胡慧[1,2] 喻妙华[2] 

机构地区：[1]湖南大学电气与信息工程学院,长沙410082 [2]湖南工程学院计算机与通信学院,湘潭411104

出　　处：《农业机械学报》2010年第5期158-163,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：湖南省教育厅资助科研项目(08C224);湖南省科技计划项目(2008FJ3029)

摘　　要：针对无土栽培温室类结构化环境下机器人的全局定位问题,采用激光测距仪感知环境特征,提出了一种以自适应曲率计算方法进行环境特征分割的移动机器人Monte Carlo全局自定位方法。在机器人定位过程中,利用运动模型预测机器人的位姿,感知模型根据激光测距仪感知的环境特征的几何相似性更新粒子集的分布,实现了机器人的自主定位。仿真实验验证了算法能够满足温室移动机器人定位的需要。To deal with the localization problem of robot equipped with laser sensor,a mobile robot Monte Carlo self-localization method based on adaptive curvature estimation for environmental features extracted was proposed.During the mobile robot localization,poses of the robot were predicted by motion-model,and then distribution of particles set was updated according to the similarity measurements of geometry by observation model,and robot self-localization was realized.Simulation experiments showed the proposed method could satisfy the requirements of the mobile robot self-localization in greenhouse.

关 键 词：温室 移动机器人 激光测距仪 自适应曲率估计 MONTE Carlo定位 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]