Research on Positioning Algorithm of Mobile Industrial Robot Based on ROS
The application of indoor mobile industrial robots in industrial production,intelligent logistics and other fields is becoming increasingly widespread,and their navigation and positioning with its high applica-tion value have become a hot topic of research for scholars.In order to solve the problems of particle scarcity and low positioning accuracy in Monte Carlo localization(MCL)algorithm,the adaptive Monte Carlo localiza-tion(AMCL)algorithm is applied to the positioning system of mobile industrial robots.By introducing ran-dom sampling and KLD sampling in MCL resampling,the number of particles is adaptively dynamically ad-justed to achieve good positioning results.At the same time,an experimental platform based on robot operat-ing system(ROS)is built for positioning experiments.Through experiments,the AMCL positioning algorithm can effectively achieve the positioning function of mobile industrial robots on the ROS platform.
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