基于多元M序列的人工路标设置方法  

Artificial Landmark Distribution Based on Multi-ary M-sequence

作　　者：唐恒博[1,2] 陈卫东[1,2] 王景川[1,2] 

机构地区：[1]上海交通大学自动化系,上海200240 [2]系统控制与信息处理教育部重点实验室,上海200240

出　　处：《机器人》2014年第1期29-35,共7页Robot

基　　金：国际热核聚变实验堆(ITER)计划专项(国内研究)(2012GB102001);国家自然科学基金资助项目(60934006)

摘　　要：针对基于路标组的机器人定位方法中存在的定位不确定性问题,提出一种基于多元M序列的人工路标设置方法.利用多元M序列的最长周期特性,使用最少种类的路标,生成满足路标组全局唯一性要求的路标设置方案.该方法通过减少路标种类来扩大路标特征差异,进而提高定位对测量噪声的抗干扰能力.该方法在变电站巡检机器人系统平台上的实验,以及在不同测量噪声条件下的仿真结果,表明了其有效性.In view of the uncertainty in landmark group based robot localization, an artificial landmark distribution method based on multi-ary M-sequence is proposed. The longest period characteristic of M-sequence is utilized to generate landmark distribution, which satisfies that all landmark groups are globally unique, with least landmark species. The difference among landmarks is expanded by reducing the landmark species, and thus the anti-interference ability of localization is improved. The efficiency of the proposed method is demonstrated by results of experiments on the substation inspection robot system and simulations under different measurement noises.

关 键 词：M序列 巡检机器人 全局定位 人工路标 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]