基于粒子滤波器的移动机器人自定位方法研究  

Research on Mobile Robot Localization Based on Particle Filter Algorithm

作　　者：邹国柱 陈万米[1] 王燕[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《工业控制计算机》2014年第10期43-45,共3页Industrial Control Computer

摘　　要：首先,对粒子滤波器的原理进行了简要阐述。然后详细描述了基于粒子滤波器的移动机器人自定位算法——蒙特卡洛定位算法。在ROS(Robot Operating System)平台上对该算法进行了仿真实验并分析了其性能。最后,对蒙特卡洛粒子滤波定位方法用于移动机器人定位进行了总结。结果表明,MCL(蒙特卡洛)算法是一种精确鲁棒的移动机器人概率定位方法,可对解决移动机器人的定位问题提供有意义的参考。提出的机器人自定位方法为机器人在Robocup竞赛中自主执行各种作业提供定位支持,已在2013年中国机器人大赛获奖。Firstly,the research progress and principle of particle filters are overviewed.Secondly,the progress of mobile robot localization based on particle filters is described using Monte Carlo localization algorithm.Thirdly,the algorithm simulation and analysis of its performance is on ROS platform.Finally,the future directions of particle filters in mobile robot localization are summarized.The results verify the effectiveness and efficiency of the proposed MCL provides a valuable reference for mobile robot localization.This paper presents a method of self-localization of robots for providing positioning support for the robot to perform various operations in the Robocup competition,which has been winning in 2013 China Robot Competition.

关 键 词：粒子滤波器 蒙特卡洛定位 ROS 移动机器人定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]