[1]霍成立,谢 凡,秦世引.面向室内移动机器人的无迹滤波实时导航方法[J].智能系统学报,2009,4(4):295-302.
HUO Cheng-li,XIE Fan,QIN Shi-yin.A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(4):295-302.
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HUO Cheng-li,XIE Fan,QIN Shi-yin.A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(4):295-302.
面向室内移动机器人的无迹滤波实时导航方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
4
期数:
2009年第4期
页码:
295-302
栏目:
学术论文—智能系统
出版日期:
2009-08-25
- Title:
- A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots
- 文章编号:
- 1673-4785(2009)04-0295-08
- Keywords:
- indoor autonomous cruise; UKF; realtime navigation; mobile robots
- 分类号:
- TP242.6
- 文献标志码:
- A
- 摘要:
- 根据轮式移动机器人室内自主漫游的目标要求和约束条件，提出了一种新的实时导航策略，利用UKF（unscented Kalman filter）算法对置顶相机和里程计获取的移动机器人位姿信息进行在线滤波，为实现移动机器人的室内自主漫游控制进行实时导航定位.实验结果表明，提出的导航策略和实现算法满足实时性要求，具有较高的精度，可为进一步的实际应用提供参考.
- Abstract:
- A new realtime navigation strategy was proposed that reflects the requirements and constraints for indoor autonomous travel of wheeled mobile robots. The unscented Kalman filter (UKF) algorithm was employed to carry out online filtering of mobile robot positional data collected from ceiling cameras and the odometer. This allows realtime navigation and positioning for control of indoor autonomous travel. A series of experiments demonstrated that this navigational strategy and implementation algorithm can meet realtime high precision requirements. These results make our strategy a good reference for further research that will lead to practical applications.
- 参考文献/References:
-
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备注/Memo
收稿日期：2009-04-13.
基金项目：国际科技合作基金资助项目（2007DFA11530）；国家高技术研究发展计划(863)基金资助项目(2006AA04Z207)；国家自然科学基金资助项目（60875072）；教育部博士点基金资助项目(20060006018).
通信作者：霍成立.E-mail:hchlsy@sina.com.
作者简介：
霍成立，男，1979年生，硕士研究生，主要研究方向为基于视觉轮式移动机器人的导航算法与实现技术.?
谢 凡，男，1982年生，博士研究生，主要研究方向为多机器人系统的协同优化控制.
秦世引，男，1955年生，博士，教授，博士生导师，现任中国人工智能学会秘书长，智能控制与智能管理专业委员会副主任，中国自动化学会智能自动化专业委员会委员，系统复杂性专业委员会委员，《智能系统学报》编委会副主任.主要研究方向为图像处理与模式识别、大规模多机器人系统智能优化控制、复杂系统与复杂性科学等.发表学术论文110余篇，合著出版学术专著2部，研究生教材1部，译著2部.
更新日期/Last Update:
2009-11-16