移动机器人激光全局定位系统的算法研究

介绍了一种新型的移动机器人激光全局定位系统。重点讨论了结构化环境中移动机器人的全局定位方法 ,提出了一种新的基于最小二乘法的迭代搜索定位算法。全方位移动机器人平台上进行的定位实验 ,证实了该算法的有效性。

This paper introduces a new laser location system of mobile robot. Based on the location system, the approaches to global location problem of mobile robot in structured environment are mainly discussed. A new iterative search location algorithm using least squares procedure is proposed. The location experiments carried out in omnidirectional mobile robot platform demonstrate the effectiveness of algorithm.

国家“8 6 3”高技术计划智能机器人项目资助课题 ( 86 3-5 12 -982 0 -0 6 )