室内自主移动机器人定位方法研究综述

LOCALIZATION APPROACHES FOR INDOOR AUTONOMOUS MOBILE ROBOTS: A REVIEW

  • 摘要: 定位是确定机器人在其作业环境中所处位置的过程.应用传感器感知信息实现可靠的定位是自主移动机器人最基本、也是最重要的一项功能之一.本文对室内自主移动机器人的定位技术进行了综述,提出了一种通用的控制结构,对其中与定位相关的地图结构、位姿估计方法进行了详细介绍,指出了地图构造、全局定位、数据关联、同步定位与地图构造、信息融合及协同定位所应用的方法及存在的问题.

     

    Abstract: Localization is the process of finding the position and orientation of the robot. Reliable localization based on sensors is one of the most fundamental and important tasks for autonomous robots. This paper reviews the relevant indoor mobile robot localization technologies, presents a general control architecture, and especially introduces the problem of map building and pose estimation. The methods and open problems of map building, global localization, data association, SLAM (Simultaneous Localization and Map Building), information fusion and collaborative localization are also mentioned.

     

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