机器人班组协同定位理论与技术研究  

Research on the Theories and Technologies of Collaborative Localization for Robot Teams

作　　者：刘鹏[1,2] 于镇滔 曾建潮 张鹏[1] 卢志刚[2] 马跃东[2] LIU Peng;YU Zhen-tao;ZENG Jian-chao;ZHANG Peng;LU Zhi-gang;MA Yue-dong(North University of China,Taiyuan 030051,China;North Automatic Control Technology Institute,Taiyuan 030006,China)

机构地区：[1]中北大学,太原030051 [2]北方自动控制技术研究所,太原030006

出　　处：《火力与指挥控制》2022年第4期5-10,18,共7页Fire Control & Command Control

基　　金：国家自然科学基金(61903343);装备预研项目(41403010111);测试仪器科研项目(2005CS037);中北大学自然科学基金资助项目(11012341,11044805,18001936)。

摘　　要：机器人部队具有伤亡小、战时长、代价低等特点,是未来进行战略突袭的主力军。机器人执行战斗任务的条件是已知敌我双方的精准位置。以机器人协同定位为主线,概述近年来机器人系统实现可定位的条件,从信息融合和优化理论两个方面对机器人定位系统进行建模,并分析相应的定位方法。在此基础上,对机器人系统协同定位方法进行探讨,从基于距离和方位两个角度分类说明,指出协同定位存在的主要缺陷,并对未来多机器人可用于协同定位的技术和理论进行展望。对我国智能化机器人部队的建立、车辆分派、路径规划等工作的开展具有理论和工程意义。Robot troops as the main force for strategic attack have the characteristics of small casualties,long work time and low cost,etc.Knowing the precise positions of ourselves and the enemy are the premise for robots to perform combat missions.The collaborative localization of robots is acted as the main line.The conditions for localization for robot systems in recent years are summarized.The models of robot localization system are established based on information fusion and optimization theory.At the same time,the relative localization methods for different models are analysed.On this basis,we discuss the collaborative localization methods of robot system from distance and orientation,aspects respectively are discussed.Then the main defaults of collaborative localization are pointed out,and the future technology and theory of collaborative localization from multi-robots are forecast.This work has theoretical and engineering significance for the establishment,vehicle assignment and path planning for Chinese intelligent robot army.

关 键 词：协同定位 机器人战队 信息融合 人工智能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TJ01[自动化与计算机技术—控制科学与工程]