| 基于声纳的智能机器人自主定位算法研究 |
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| 引用本文： | 刘磊,王永骥,程磊. 基于声纳的智能机器人自主定位算法研究[J]. 华中科技大学学报(自然科学版), 2004, 0(Z1) |
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| 作者姓名： | 刘磊 王永骥 程磊 |
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| 作者单位： | [1]华中科技大学控制科学与工程系 [2]华中科技大学控制科学与工程系 湖北武汉 [3]湖北武汉 |
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| 基金项目： | 国家自然科学基金资助项目 (6 9974 0 17,6 0 2 74 0 2 0 ) |
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| 摘 要： | 为了解决声纳传感器探测信号的不确定性问题并消除在定位过程中存在的噪音 ,以P2 DXe机器人为实验主体 ,根据声纳传感器在机器人定位中的特性 ,对声纳传感器在机器人自主定位应用中的相关算法作了系统的分析和研究 ,比较各种算法之间的联系和区别 .利用机器人Saphira8.0仿真平台对算法进行了仿真 ,证明了该算法的可行性 .
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| 关 键 词： | 自主定位 马尔可夫 蒙特卡罗 均匀蒙特卡罗 |
Research on self-localization algorithms for intelligent robots |
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| Liu Lei Wang Yongji Cheng Lei Postgraduate, Dept. of Control Sci. , Eng.,Huazhong Univ. of Sci. , Tech.,Wuhan ,China.. Research on self-localization algorithms for intelligent robots[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2004, 0(Z1) |
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| Authors: | Liu Lei Wang Yongji Cheng Lei Postgraduate Dept. of Control Sci. & Eng. Huazhong Univ. of Sci. & Tech. Wuhan China. |
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| Affiliation: | Liu Lei Wang Yongji Cheng Lei Postgraduate, Dept. of Control Sci. & Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | To solve the problem about the uncertainty of information from the sonar and the noise from the processing, the paper makes a particular analysis and research about the self-localization algorithms for sonar of P2-DXe intelligent robot based on the characteristics of the sonar sensor, and compares the differential of them. At the end of the paper, some experiments have been made on the Saphira8.0 simulation flat, to testify the feasibility of the algorithm. |
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| Keywords: | self-localization Markov Monte Carlo uniform Monte Carlo |
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