自主移动机器人室内定位方法研究综述  

Research overview of indoor localization methods for autonomous mobile robots

作　　者：高云峰[1] 周伦[1] 吕明睿 刘文涛[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《传感器与微系统》2013年第12期1-5,9,共6页Transducer and Microsystem Technologies

基　　金：国家科技支撑计划资助项目(2012BAI33B04);机器人技术与系统国家重点实验室自主课题项目(SKLRS201201B)

摘　　要：自主移动机器人的室内定位作为机器人研究领域中最基本的问题已被广泛研究。根据定位技术和传感器的不同,将室内定位方法分为航迹推算定位、地图匹配定位和基于信标定位三类。详细介绍了超声波网络定位系统和基于无线射频识别(RFID)的定位方法。对几种基于概率的定位算法做了分析和对比,并对自主移动机器人室内定位方法的研究方向做了展望。Being a fundamental issue in the research of issue,indoor localization of autonomous mobile robots has been thoroughly studied. According to the difference between localization techniques and sensors indoor localization methods are classified into three categories：dead-reckoning localization, map-matching localization and beacon-based localization. The ultrasonic wave network positioning system and RFID-based localization method are interpreted in detail. Several localization algorithms based on probability are analyzed and compared, the research directions of autonomous mobile robot localization methods are prospected.

关 键 词：自主移动机器人 室内定位方法 航迹推算定位 地图匹配定位 信标定位 概率算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]