自动化与信息工程2024，Vol.45Issue(2)：7-13,7.DOI:10.3969/j.issn.1674-2605.2024.02.002
基于反光柱的融合定位方法研究
Research on Fusion Localization Method Based on Reflective Columns
摘要
Abstract
A fusion localization method based on reflective columns is proposed to address the issues of localization stability and accuracy degradation caused by changes in environmental features in complex scenes.A lightweight,highly accurate,and robust robot positioning system has been achieved through the fitting of the center of the reflective column based on least squares,particle filtering positioning based on reflective column observation,real-time positioning based on extended Kalman filtering,simultaneous localization and mapping,and fusion positioning method with reflective columns.Through experimental verification,this fusion positioning method has a large range of fault tolerance and correction in dynamic environments,and can achieve millimeter level positioning accuracy in static positioning,which can meet the requirements of mobile robots,handling AGVs and other scenarios.关键词
反光柱/融合定位/圆心拟合/粒子滤波定位/即时定位与地图构建Key words
reflective column/fusion positioning/center fitting/particle filter localization/simultaneous localization and mapping分类
信息技术与安全科学引用本文复制引用
黄小春..基于反光柱的融合定位方法研究[J].自动化与信息工程,2024,45(2):7-13,7.基金项目
福厦泉国家自主创新示范区协同新平台专项(2021FX07) （2021FX07）
