自主机器人作业的关键问题是自身的定位问题。卡尔曼滤波可用于对系统位置进行估计。首先介绍了移动机器人同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的一般模型及关键技术,然后介绍了扩展卡尔曼滤波(Extended Ka...自主机器人作业的关键问题是自身的定位问题。卡尔曼滤波可用于对系统位置进行估计。首先介绍了移动机器人同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的一般模型及关键技术,然后介绍了扩展卡尔曼滤波(Extended Kalman Filter,EKF)的原理,通过分析粗差对EKF模型的影响,提出了抗差EKF模型。该模型根据多余观测分量及预测残差统计,构造抗差等价EKF增益矩阵,通过迭代解算给出抗差解。最后分别实现了加入粗差后的标准EKF-SLAM解决方案以及加入粗差后的抗差EKF-SLAM解决方案;模拟了自主机器人运动轨迹,并对比了两种模型对机器人定位的精确度,结果显示了抗差EKF模型的优越性。展开更多
移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性....移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性.分析表明随着机器人的运动,机器人定位误差总体上逐渐增大;在完全未知环境中无法预测机器人定位误差的上限.根据理论分析,本文提出了一种控制机器人定位误差在单位距离上增长速度的算法.该算法通过搜索获得满足定位误差限制的最佳的机器人运动速度,从而控制机器人定位误差的增长.展开更多
针对移动机器人噪声模型不确定性导致定位算法鲁棒性弱、精度低的问题,提出一种基于奇异值分解(Singular Value Decomposition,SVD)的自适应无迹H_(∞)滤波定位算法。该算法利用无迹H_(∞)滤波融合多传感器数据估计移动机器人位姿,并通...针对移动机器人噪声模型不确定性导致定位算法鲁棒性弱、精度低的问题,提出一种基于奇异值分解(Singular Value Decomposition,SVD)的自适应无迹H_(∞)滤波定位算法。该算法利用无迹H_(∞)滤波融合多传感器数据估计移动机器人位姿,并通过自适应调节滤波器参数γ,提高了移动机器人的定位精度。同时为了提高算法的鲁棒性,采用SVD分解代替常规Cholesky分解,避免了误差协方差矩阵在数值迭代过程中出现负定的情况。实验结果表明:相较于扩展H_(∞)滤波和粒子滤波算法,基于SVD分解的自适应无迹H_(∞)滤波定位算法具有精度高、鲁棒性强的优势。展开更多
A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the...A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.展开更多
文摘移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性.分析表明随着机器人的运动,机器人定位误差总体上逐渐增大;在完全未知环境中无法预测机器人定位误差的上限.根据理论分析,本文提出了一种控制机器人定位误差在单位距离上增长速度的算法.该算法通过搜索获得满足定位误差限制的最佳的机器人运动速度,从而控制机器人定位误差的增长.
文摘针对移动机器人噪声模型不确定性导致定位算法鲁棒性弱、精度低的问题,提出一种基于奇异值分解(Singular Value Decomposition,SVD)的自适应无迹H_(∞)滤波定位算法。该算法利用无迹H_(∞)滤波融合多传感器数据估计移动机器人位姿,并通过自适应调节滤波器参数γ,提高了移动机器人的定位精度。同时为了提高算法的鲁棒性,采用SVD分解代替常规Cholesky分解,避免了误差协方差矩阵在数值迭代过程中出现负定的情况。实验结果表明:相较于扩展H_(∞)滤波和粒子滤波算法,基于SVD分解的自适应无迹H_(∞)滤波定位算法具有精度高、鲁棒性强的优势。
基金Project(60234030) supported by the National Natural Science Foundation of China
文摘A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
