现代电子技术
現代電子技術
현대전자기술
MODERN ELECTRONICS TECHNIQUE
2013年
23期
95-98
,共4页
多机器人系统%协同定位%扩展卡尔曼滤波%粒子滤波
多機器人繫統%協同定位%擴展卡爾曼濾波%粒子濾波
다궤기인계통%협동정위%확전잡이만려파%입자려파
multi-robot system%co-operative localization%EKF%PF
无论对于单机器人还是多机器人系统，定位能力是其完成各项任务的前提条件。针对常用定位技术难以满足移动机器人群体协同定位精度高、实时性强等要求，提出了一种基于扩展卡尔曼滤波（EKF）和粒子滤波（PF）的混合定位技术。首先，对机器人进行运动建模，然后分别讨论基于扩展卡尔曼滤波和粒子滤波的机器人协同定位的基本原理、优缺点，在此基础上提出基于扩展卡尔曼滤波和粒子滤波相结合的协同定位方法。结果表明，该算法在满足一定条件下可有效解决定位精度与运算量之间的矛盾，可实现在初始条件未知或存在较大误差情况下多机器人快速、精确地协同定位。
無論對于單機器人還是多機器人繫統，定位能力是其完成各項任務的前提條件。針對常用定位技術難以滿足移動機器人群體協同定位精度高、實時性彊等要求，提齣瞭一種基于擴展卡爾曼濾波（EKF）和粒子濾波（PF）的混閤定位技術。首先，對機器人進行運動建模，然後分彆討論基于擴展卡爾曼濾波和粒子濾波的機器人協同定位的基本原理、優缺點，在此基礎上提齣基于擴展卡爾曼濾波和粒子濾波相結閤的協同定位方法。結果錶明，該算法在滿足一定條件下可有效解決定位精度與運算量之間的矛盾，可實現在初始條件未知或存在較大誤差情況下多機器人快速、精確地協同定位。
무론대우단궤기인환시다궤기인계통，정위능력시기완성각항임무적전제조건。침대상용정위기술난이만족이동궤기인군체협동정위정도고、실시성강등요구，제출료일충기우확전잡이만려파（EKF）화입자려파（PF）적혼합정위기술。수선，대궤기인진행운동건모，연후분별토론기우확전잡이만려파화입자려파적궤기인협동정위적기본원리、우결점，재차기출상제출기우확전잡이만려파화입자려파상결합적협동정위방법。결과표명，해산법재만족일정조건하가유효해결정위정도여운산량지간적모순，가실현재초시조건미지혹존재교대오차정황하다궤기인쾌속、정학지협동정위。
The positioning capacity is a prerequisite to complete the tasks,no matter for single-robot or multi-robots sys-tems. It is difficult for common location technique to meet the requirements of mobile robot groups in high co-localization accura-cy and strong real-time. A hybrid location technique based on Extended Kalman Filter(EKF)and Particle Filter(PF)is pro-posed. The multi-robots are motion modeling,then the basic principle of robot co-localization based on EKF or PF and their ad-vantages and disadvantages are discussed respectively. On this basis,another co-localization based on the combination of EKF and PF is proposed. The experiment result shows that this method is effectively in solving the contradiction between positioning accuracy and calculation under some condition. And when the initial condition is unknown or the errors is large,the multi-robots co-localization can also be rapidly and precisely.
