改进AMCL最优位姿估计的机器人室内定位控制
Indoor positioning control of robot based on improved AMCL optimal pose estimation
庞广富 1余鹏1
作者信息
- 1. 广西工业职业技术学院,南宁 530001
- 折叠
摘要
机器人在室内定位过程中存在定位精准度不高、定位时间长等问题,为此,提出改进AMCL最优位姿估计的机器人室内定位控制系统.构建机器人信息采集系统,采集机器人室内位置信息;改进阈值函数,对传感器信号实行去噪处理,为其精准定位打下基础;利用卡尔曼滤波数据,获得机器人的最优位姿估计,实现最终的机器人室内定位.实验结果表明,所提方法的定位误差均在0.3m以内,定位精准度更高,定位偏差小,定位效果较好.
Abstract
In the process of robot indoor positioning,there are still problems such as low positioning accura-cy and long positioning time.Therefore,a robot indoor positioning control based on improved AMCL opti-mal pose estimation is proposed.A robot information collection system is build to collect the indoor position information of the robot,improve the threshold function,de-noising the sensor signal,and lay a foundation for its accurate positioning..The Kalman filter data is used to obtain the optimal pose estimation of the ro-bot and achieve the final indoor positioning of the robot.The experiment results show that the positioning er-ror of the proposed method is within 0.3m,the positioning accuracy is higher,the positioning error is small,and the positioning effect is better.
关键词
定位控制/最优位姿估计/改进AMCL/传感器/室内定位Key words
positioning control/optimal pose estimation/improve AMCL/sensors/indoor positioning引用本文复制引用
基金项目
广西壮族自治区高等学校中青年教师科研基础能力提升项目(2021)(2021KY1277)
出版年
2024
NETL
NSTL
万方数据