基于贝叶斯滤波理论的自主机器人自定位方法研究.pdfVIP

第21 卷第8 期 　控　制　与　决　策 　2006 年8 月 Vol. 21 No. 8 Contr ol and D ecision　 　　 Aug. 2006 : 1001-0920(2006) 08-0841-07 a,b b b 方　正 , 佟国峰, 徐心和 ( a. , b. , 110004) : 针对自主机器人定位问题, 研究了基于贝叶斯滤波理论的自定位方 . 从概率表达的角度介绍了贝叶斯滤 波方 各种不同的实现形式, 分析了各种不同定位方 的性能, 指出了它们的优缺点, 并对每种方 的改进方 进行 了探讨和分析. 最后总结了定位方 的基本特点, 并对贝叶斯滤波理论在自主机器人领域中的应用前景进行了展望, 探讨了未来的发展方向. : 贝叶斯滤波理论; 自主机器人自定位; 卡尔曼滤波器; 马尔可夫定位; 粒子滤波 : T P242.6: A Study of Autonomous Robot Self-localization Methods Based on Bayesian Filter Theory a, b b b FA N G Zheng , TON G Guo-f eng , X U X in-he (a.Key aboratory of Process Industry Automat ion, Ministry of Education, b. Inst itute of Artificial Int elligence and Robotics, Northeastern U niversity, Shenyang 110004, China. Correspondent : FANG Zheng, E -mail: fangzheng81 @ 163.com) Abstract: To solve localization problems of autonomous robots, self-localization methods based on Bayesian filter theory are investigated. From t he view of probability distribution functions, different implem entations of Bayesian filters are introduced Performances of each implementation are analyzed and t he advantages and disadvantages are. also pointed out . Finally the basic characterist ics of a good localization algorithm are summarized and potential, applications of Bayesian filter t echnology in the field of aut onomous robots are forecasted. T he further research directions are also discussed. : ; - ; ; ; Key words Bayesian filt er theory Autonomous robot self localizat ion Kalman filt er M arkov localizat ion Part icle filter 1引　　言