CAJ | 학술논문

首先，对粒子滤波器的原理进行了简要阐述。然后详细描述了基于粒子滤波器的移动机器人自定位算法---蒙特卡洛定位算法。在ROS（Robot Operating System）平台上对该算法进行了仿真实验并分析了其性能。最后，对蒙特卡洛粒子滤波定位方法用于移动机器人定位进行了总结。结果表明，MCL（蒙特卡洛）算法是一种精确鲁棒的移动机器人概率定位方法，可对解决移动机器人的定位问题提供有意义的参考。提出的机器人自定位方法为机器人在Robocup竞赛中自主执行各种作业提供定位支持，已在2013年中国机器人大赛获奖。
수선，대입자려파기적원리진행료간요천술。연후상세묘술료기우입자려파기적이동궤기인자정위산법---몽특잡락정위산법。재ROS（Robot Operating System）평태상대해산법진행료방진실험병분석료기성능。최후，대몽특잡락입자려파정위방법용우이동궤기인정위진행료총결。결과표명，MCL（몽특잡락）산법시일충정학로봉적이동궤기인개솔정위방법，가대해결이동궤기인적정위문제제공유의의적삼고。제출적궤기인자정위방법위궤기인재Robocup경새중자주집행각충작업제공정위지지，이재2013년중국궤기인대새획장。
FirstIy,the research progress and principIe of particIe fiIters are overviewed.SecondIy,the progress of mobiIe robot Io-caIization based on particIe fiIters is described using Monte CarIo IocaIization aIgorithm.ThirdIy,the aIgorithm simuIation and anaIysis of its performance is on ROS pIatform.FinaI y,the future directions of particIe fiIters in mobiIe robot IocaIization are summarized.The resuIts verify the effectiveness and efficiency of the proposed MCL provides a vaIuabIe reference for mo-biIe robot IocaIization.This paper presents a method of seIf-IocaIization of robots for providing positioning support for the robot to perform various operations in the Robocup competition,which has been winning in 2013 China Robot Competition.