基于路标的AGV定位优化研究  

Research of AGV localization optimization based on landmark

作　　者：雷斌[1] 刘波峰[1] 刘道正[1] 胡佳林[1] 张诗芳[1] 张建强[1] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082

出　　处：《传感器与微系统》2013年第6期60-62,69,共4页Transducer and Microsystem Technologies

基　　金：2011年广东省省部产学研结合引导项目(2011B090100264)

摘　　要：为了减小自动引导小车(AGV)定位中的误差,分析了定位过程中误差产生的原因,并提出了优化方法。对定位系统校准、移动定位及路标识别中存在的问题,采用不同的优化方法,如构造补偿函数、随机抽样一致性(RANSAC)算法等。采用均方误差(MSE)来判断定位结果的准确性。实验结果表明:优化方法能提高了定位系统的定位精度和定位可靠性。To reduce the error of automated guided vehicle（AGV）localization,the reasons which causes error in the positioning process is analyzed and the methods of optimization are presented.Different optimization methods are adopted,such as constructing compensation function,random sampling consistency（RANSAC）algorithm,are used,aiming at problems exited in calibration of the localization system,localization in motion and identification of landmarks.Mean square error method is adopted to judge accuracy of localization results.The experimental results show that the optimization methods improves the reliability and the precision of localization system.

关 键 词：定位优化 自动引导小车 路标 角度测量 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]