基于激光跟踪测量的机器人定位研究  

Research on robot positioning based on laser tracking measurement

作　　者：黄朝阳[1] 乔晓利[1] HUANG Zhaoyang;QIAO Xiaoli(College of Yuanpei,Shaoxing University,Shaoxing Zhejiang 312000,China)

机构地区：[1]绍兴文理学院元培学院

出　　处：《激光杂志》2018年第12期121-124,共4页Laser Journal

基　　金：国家自然科学基金资助项目(No.51505296)

摘　　要：机器人定位具有较高的实际应用价值,成为当前关注的热点,为了解决当前机器人定位算法存在的定位效率低、定位误差大等难题,以提高机器人定位精度为目标,设计了一种基于激光跟踪测量的机器人定位算法。首先对机器人定位原理进行分析,找到影响机器人定位精度的因素,然后采用激光传感器对机器人移动状态进行采集,并采用主成分分析法对原始机器人信息进行处理,降低机器人信息的冗余度,最后采用粒子滤波算法对机器人进行定位,并进行了机器人定位仿真实验。结果表明,本文算法可以快速、高精度实现机器人定位,无论是定位精度或者定位实时性,均要明显优化对比机器人定位算法,具有更高的实际应用价值。Robot positioning has a high practical application value. It has become a hot spot of attention. In order to solve the problem of location efficiency and location error in the current robot positioning algorithm,to improve the positioning accuracy of robot,a robot positioning algorithm based on laser tracking measurement is designed. Firstly,the principle of robot positioning is analyzed,and the factors that affect the positioning accuracy of the robot are found.Then the laser sensor is used to collect the dynamic state of the robot,and the principal component analysis of the information of the original robot is used to reduce the redundancy of the robot information. The robot is positioned by the least particle filter algorithm. And the simulation experiment of robot positioning is carried out. The results show that the algorithm can achieve fast and accurate positioning of the robot. Both the positioning accuracy and the real-time positioning of the robot should be significantly optimized.

关 键 词：激光技术 跟踪测量 机器人定位 验证性测试 定位精度 

分 类 号：TN29[电子电信—物理电子学]