计算机应用研究2017，Vol.34Issue(4)：1055-1059,5.DOI:10.3969/j.issn.1001-3695.2017.04.022
传感器网络中利用反演集合估计的机器人定位方法
Robot localization method using inversion set estimation in sensor networks
摘要
Abstract
Concerning the global localization problem of mobile robots operating in large and cooperative environments,this paper proposed that the position of a robot was estimated in the environment using real-time data from the robot on-board sensors,the environmental sensors and other robots.Firstly,the proposed method integrated a large number of different types of sensors.Then,the constraint conditions such as the variable number of measurements,the general measurement of the angle measurement,the measurement and statistical knowledge affected by fault tolerance constraints were considered.The problem of nonlinear boundary error estimation was being as an inverse set.Outliers of the specific type and model error in the imprecise environment could be done finally.When it completed the processing of the error and outliers,the location map was obtained basically,which solved the location problem of the mobile robots.The proposed method was verified by physical experiment.The test area was equipped with a plurality of sensors,a camera fixed to the top of the wall and a visible mark on the robot.The experimental results show that the proposed method has obvious advantages in the cooperative environment,and it is more reliable to deal with outliers.关键词
机器人定位/反演集合/传感器/定位图/异常值Key words
mobile localization/inversion set/senor/location map/outliers分类
信息技术与安全科学引用本文复制引用
王颖,张波..传感器网络中利用反演集合估计的机器人定位方法[J].计算机应用研究,2017,34(4):1055-1059,5.基金项目
国家自然科学基金资助项目(60873159) （60873159）
