基于自适应蒙特卡洛算法的实时定位研究  

Research on Real-time Positioning Based on Adaptive Monte Carlo Algorithm

作　　者：操凤萍[1] 樊啟要[2] CAO Fengping;FAN Qiyao(School of Electronics and Computer Engineering,Southeast University Chengxian College,Nanjing 210088,China;The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China)

机构地区：[1]东南大学成贤学院电子与计算机工程学院,南京210088 [2]中国电子科技集团公司第二十八研究所,南京210007

出　　处：《计算机工程》2018年第9期28-32,37,共6页Computer Engineering

基　　金：东南大学成贤学院青年基金"大数据环境下基于LSH的抽样聚类算法加速研究"(y0009);江苏省现代教育技术研究计划项目(2016-R-47297);江苏省高校哲学社会科学研究计划项目(2015SJD028)

摘　　要：传统变电站的人工巡检方式受到客观制约因素较多,存在一定的误检、漏检等问题。为此,在对变电站实时定位时采用机器人巡检方式,提出一种基于自适应蒙特卡洛算法。利用开源机器人操作系统,通过将激光传感器和里程计相结合,实现巡检机器人的实时定位。在Matlab环境下进行仿真对比实验,结果表明,与基于蒙特卡洛算法相比,基于自适应蒙特卡洛算法的定位精度更高、抗干扰性更强,适用于变电站巡检机器人的实时定位研究。The manual inspection methods of traditional substations are subject to many objective constraints,and there are certain problems such as false detection and missing detection.Therefore,a robot inspection method is adopted in real-time positioning of the substation,and an adaptive Monte Carlo algorithm is proposed.Using the open source robot operating system,real-time positioning is realized by combining the laser sensor and the odometer.Simulation experimental in Matlab environment results show that compared with Monte Carlo algorithm,the adaptive Monte Carlo algorithm is more accurate and more anti-interference,and it is suitable for real-time positioning of substation inspection robots.

关 键 词：自适应 蒙特卡洛算法 实时定位 定位精度 抗干扰性 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]