基于粒子滤波的微小型移动机器人红外定位研究  

Infrared Localization Based on Particle Filter for Miniature Mobile Robot

作　　者：翟亚芳[1] 顾钊源 张大伟[2] ZHAI Yafang;GU Zhaoyuan;ZHANG Dawei(School of Electronic Information and Electrical Engineering,Anyang Institute of Technology,Anyang 455000,China;School of Information Engineering,Zhengzhou University,Zhengzhou 450001,China)

机构地区：[1]安阳工学院电子信息与电气工程学院,河南安阳455000 [2]郑州大学信息工程学院,河南郑州450001

出　　处：《郑州大学学报（理学版）》2019年第4期63-67,共5页Journal of Zhengzhou University:Natural Science Edition

基　　金：安阳市2018年度科技发展计划项目(2018-9)

摘　　要：对微小型移动机器人之间的协作定位问题进行了研究.根据微小型机器人的结构特点,建立了它们之间的红外定位模型.在红外定位的基础上,将粒子滤波算法应用于微小型移动机器人的状态估计中.结合红外传感器信息更新各时刻机器人位姿信息的粒子集,并利用粒子集逼近机器人当前时刻的位姿状态.通过实验和误差分析,对所建立的基于粒子滤波的红外定位方法的可行性进行了验证.The cooperative localization problem between miniature mobile robots was studied.According to the structural characteristics of miniature mobile robots,the infrared localization model between them was established.Based on the infrared localization between miniature mobile robots,the particle filter algorithm was applied to their state estimation.The particle set of the pose information at each time was updated with the information from infrared sensor,and it was used to approximate to the current pose state.The feasibility of the infrared localization method based on the particle filter was verified by the experiment and error analysis.

关 键 词：微小型机器人 红外 定位 粒子滤波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]