[1]范元勋,王华坤.室外区域充满运行机器人导航定位的一种策略[J].南京理工大学学报(自然科学版),2006,(02):199-202.
 FAN Yuan-xun,WANG Hua-kun.Strategy of Navigation and Localization for Outdoor Area-covering Mobile Robots[J].Journal of Nanjing University of Science and Technology,2006,(02):199-202.
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室外区域充满运行机器人导航定位的一种策略
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2006年02期
页码:
199-202
栏目:
出版日期:
2006-04-30

文章信息/Info

Title:
Strategy of Navigation and Localization for Outdoor Area-covering Mobile Robots
作者:
范元勋;王华坤;
南京理工大学机械工程学院, 江苏南京210094
Author(s):
FAN Yuan-xunWANG Hua-kun
School of Mechanical Engineering,NUST,Nanjing 210094,China
关键词:
移动机器人 区域覆盖 导航 定位
Keywords:
mob ile robots area covering nav igation localization
分类号:
TP 242
摘要:
该文根据在室外非结构化环境中实现区域充满运行的一类移动机器人的工作特点,提出了利用组合定位系统和数字地图匹配算法对机器人进行导航定位的一种策略。利用基于环境特征位置探测和数字地图信息匹配相结合对定位误差进行修正的方法来提高机器人导航定位精度。该方法克服了传统导航定位方法存在累积误差和系统复杂、成本高等缺点。经实验验证:该文提出的定位系统和误差修正的方法能满足移动机器人区域充满运行的定位精度要求。
Abstract:
A ccording to the operat ing features of the area-coveringmobile robotsw orking in the ou-t door unstructured env ironmen,t a strategy o f navigation and loca lizat ion is proposed. The localization system w ith combined sensors and the match ing algorithm using the dig ita lm ap serve the robo t to nav igate in the wo rk area. The method of erro r-correction based on the env ironmen tal features is adopted. The features arematched w ith the dig ita lmap to correct the localization errors in the robot. s rea-l time coverage operat ion. The proposed method overcomes the disadvantages of great accumu lat ive erro rs, complica ted system configurat ion and high cost by using the trad itional nav igationm ethods. The loca lizat ion system and the erro r-correction method in th is paper can ensure the accurate area-covering behav iors of the robot .

参考文献/References:

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[ 2] Durrant-Whyte H F. An autonom ous guided veh ic le fo r cargo handling applica tion [ J]. Internationa l Journa l o f Robo tic Research, 1996, 15 ( 5 ): 407 - 440.
[ 3] B rown R G, Donald B R. M ob ile robot se l-f loca lization w ithout exp lic it landm arks [ J ]. A lgo rithm ic, 2000, 26: 515- 519.
[ 4] Brain Y. M ob ile robots lo ca liza tion in dynam ic env-i ronm ents using dead reckon ing and ev idence g rids [ A ]. Proceedings of the 1996 IEEE Internationa l Con fe rence on Robotics and Autom ation [ C ]. M innesota: the 1996 IEEE Interna tiona l Conference on Robotics and Autom ation, 1996. 1 401- 1 406.
[ 5] 张祥德, 牛纪祥. 基于测角的自主移动机器人定位 算法[ J]. 东北大学学报, 2002, 23 ( 12 ): 1 143 - 1 146.
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备注/Memo

备注/Memo:
作者简介: 范元勋( 1964- ) , 男, 江苏启东人, 教授, 硕士, 主要研究方向: 智能机械与机器人、机械传动, E-mail:fanyx@mail.njust. edu. cn。
更新日期/Last Update: 2006-04-30