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基于激光測距的溫室移動機(jī)器人全局定位方法
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Mobile Robot Global Localization Based on Laser Range Finder in Greenhouse
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    摘要:

    針對無土栽培溫室類結(jié)構(gòu)化環(huán)境下機(jī)器人的全局定位問題，采用激光測距儀感知環(huán)境特征，提出了一種以自適應(yīng)曲率計(jì)算方法進(jìn)行環(huán)境特征分割的移動機(jī)器人Monte Carlo全局自定位方法。在機(jī)器人定位過程中，利用運(yùn)動模型預(yù)測機(jī)器人的位姿，感知模型根據(jù)激光測距儀感知的環(huán)境特征的幾何相似性更新粒子集的分布，實(shí)現(xiàn)了機(jī)器人的自主定位。仿真實(shí)驗(yàn)驗(yàn)證了算法能夠滿足溫室移動機(jī)器人定位的需要。

    Abstract:

    To deal with the localization problem of robot equipped with laser sensor, a mobile robot Monte Carlo self-localization method based on adaptive curvature estimation for environmental features extracted was proposed. During the mobile robot localization, poses of the robot were predicted by motion-model, and then distribution of particles set was updated according to the similarity measurements of geometry by observation model, and robot self-localization was realized. Simulation experiments showed the proposed method could satisfy the requirements of the mobile robot self-localization in greenhouse.

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劉洞波,劉國榮,胡慧,喻妙華.基于激光測距的溫室移動機(jī)器人全局定位方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(5):158-163. Mobile Robot Global Localization Based on Laser Range Finder in Greenhouse[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(5):158-163.

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