移动机器人定位技术地研究.pdf

匹配，提高激光扫描数据处理的实时性。仿真结果表明论文提出的算法能够快速、有 效地提取环境中的线段信息。 基于激光扫描数据中提取的线段信息，论文利用加权最小二乘法计算机器人的方 向误差，提出点——线最小二乘法和点——点最小二乘法计算机器人的位置误差，对 比发现点——点最小二乘法的校核效果更好。此外，论文应用推广的卡尔曼滤波融合 编码器和激光测距仪的信息定位机器人。实验结果表明论文提出的算法不仅对方向误 差和位置误差具有良好的校核效果，而且能够实现精确的位置跟踪。 关键词：移动机器人定位 测程法 系统误差校核 非系统误差校核 卡尔曼滤波 激光定位 II Abstract As an important research area of robotics, localization is the critical step towards autonomous navigation of mobile robots, and promises to improve automatization level. Position-estimation methods can be categorized into two groups: absolute and relative positioning. Absolute positioning requires that robot determines its position when initial position isn’t given. Relative positioning is the process of position determination on condition that robot is told its initial position, which is the main research topic of localization. In this dissertation, technologies related to relative positioning are focused on, including calibration of systematic parameters of robot, identification and correction of wheel-slippage, modeling of odometric noises and adaptive estimation of noise statistic character, matches between laser scanning data and map and posture error compensation of robot based on laser scanning data. Correct systematic parameters of robot are the prerequisite to accurate localization. UMBmark Calibration is the most widely used method to calibrate systematic parameters of robot. However, it can’t effectively correct the orientation error due to the difference between the average of two actual wheel diameters and the nominal wheel diameter when experimental robot has poor control precision, which dete