动态环境基于粒子滤波的移动机器人自定位控制理论与控制工程专业论文.docxVIP

浙江大学硕士学位论文Abstract 浙江大学硕士学位论文 Abstract R譬 Sdf-loealization is also cited鹊pose estimation problem．在揖a process in which robot g,aduany gains its estimation of self pose,based On a given map and sensor data．Localization is acknowledged as Olle the most fundamental abilities for a mobile robot,as a basic ftmetion to implement otlaer tasks．However,tlac noise in sensor data,the local similarities of sensing，and tho dymmie featuro of re,al environment bCCOlllle the most challenges ofmobile robot localization problem． This paper investigates into the aetivo localization problem for a singlc robot, in clymmie indoor environment．Based 011 massive read吨of research papers and a comparison of current localization and filter methods，it 8et On particle filter and info filtering method to solve the problem．The main work in this paper is： Firstly，investigated and implemented mobile robot localization method based On particle filter；,experimented and discussed important issues of the algorithm： particle number,resampling method，random particles，adaptive particle filtering and clymmie environment localization；proposed a IllCW method to adjust noiso parameters in uNating apriori distributions，based On the density of particle congregation．The method is proved to e13．11a110c localization speed and precision． Secondly,for dyl均,mie environment,based on the idea of outliner rejection, modeling of$e1180r measurement and an lll3known object rejection algorithm a他 implemented． Thirdly,proposed a semi-active localization method：it randomly generates target position based On a set cycle，to keep robot out of places where high local similarities may exist．Since pam r,]anning is the basics of aetivo localization,this paper also investigated mobile robot local path planning problem,and proposed a new method based On viItIlal side·slip force，which effectively leads robot out of local trap in clustered environment． Algorithms aire implemented in simulation,with data collected virtually蠲well 鹊from real