基于WRV的室内移动机器人定位系统  

Indoor mobile-robot localization system based on WRV

作　　者：王殿君[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《清华大学学报（自然科学版）》2011年第12期1849-1854,共6页Journal of Tsinghua University(Science and Technology)

基　　金：国家"八六三"高技术项目(2007AA04Z255);北京市属高等学校人才强教深化计划资助项目(PHR201008355)

摘　　要：针对W(WLAN,Wireless Local Area Network)、R(RFID,Radio Frequency Identification)、V(Video)技术在室内定位的特点,提出了基于WRV信息融合的机器人定位方法。以概率法为基础,进行了基于Kalman滤波的WLAN机器人定位实验;以增加移动误差补偿的极大似然估计定位算法为基础,进行了基于Kalman滤波的RFID机器人定位实验;以SIFT算法为基础,进行了机器人定位实验;最后研究了机器人多信息融合定位算法并进行了实验。移动机器人定位实验表明:机器人多信息融合定位平均定位偏差为0.381m,减少了WLAN、RFID及视觉系统单独定位时的偏差,定位精度上有了明显的提高,可以较好地满足室内移动机器人的定位要求。An indoor mobile-robot location system was developed,which adopted a method of fusion information with the characteristics of WLAN,RFID and Video technology on indoor location.The experiment of robot positioning was presented based on the probability method,in which the WLAN signal preprocessed by Kalman filter was involved.The experiment of robot positioning was presented based on improved maximum likelihood estimation location algorithm by taking the motion error into account,in which RFID signal preprocessed by Kalman filter was involved.The experiment of robot positioning was presented based on SIFT algorithm.The experiment of robot positioning has been presented based on the fusion information positioning algorithm.Mobile-robot positioning tests show that the location system using fusion information positioning algorithm works well and the average location deviation is 0.381 m,which is smaller than those in WLAN,RFID and Video positioning system.And the positioning accuracy has been greatly improved which can meet the requirements of indoor mobile-robot positioning.

关 键 词：移动机器人 信息融合 定位系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]