水下机器人定位方法综述  

Survey of Localization Methods for Underwater Robots

作　　者：商承超 王伟[2] 谢广明[2] 罗文广[1] 

机构地区：[1]广西科技大学电气与信息工程学院,广西柳州545006 [2]北京大学工学院,北京100871

出　　处：《兵工自动化》2013年第12期46-50,共5页Ordnance Industry Automation

基　　金：国家自然科学基金面上项目(10972003);广西车辆零部件先进设计制造重点实验室开放基金重点项目(2012KFZD03)

摘　　要：机器人定位是指通过机器人传感系统实时获得其所在的位置和航向信息,是移动机器人完成复杂实际任务的基础。针对水中机器人,介绍了基于水声、基于GPS和基于概率等几种典型的水下定位方法。分别描述了这些方法的实现原理,并分析了它们的特点和存在的问题。最后,展望了该方向今后的发展趋势和应用前景。Robot localization means that the robot obtains its position and heading information through its sensor systems in real time, which is the start point of complex real applications for mobile robots. In this paper, for underwater robots, three typical localization methods including acoustic localization, GPS-based localization and probabilistic localization are introduced. Their implementation principles are described and their advantages and existing problems are analyzed, respectively. Finally, the direction of future development and application prospect are discussed.

关 键 词：水下机器人 定位方法 水声定位 GPS定位 概率定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]