Research on a Rapid Self-localization Method for Robot Based on Information Fusion
This article proposed a rapid mobile robot selflocalization method based on laser data, encoder data and azimuth compass data. This method can avoid tremendous error from pure mileage integral, and tremendous compute task from pure laser data registration after extract laser character. It only based on the similarity of adjacent laser data after pretreatment, then syncretized the estimated rotation angel and parallel displacement from encoder and azimuth compass, find the best transform with quasi Newton method. At last the mobile robot selflocalization was realized. Experiment result demonstrated the reliability of this method.
self-localization mobile robot data syncretize kernel correlation quasi Newton
Bo Yang Guoliang Zhang Bin Jing
Xian Research Inst of Hi-Tech, Hongqing Town, Xian 710025 P.R.China
国际会议
2010 International Conference on Advanced Mechanical Engineering(2010年先进机械工程国际学术会议 AME 2010)
洛阳
英文
25-31
2010-09-04（万方平台首次上网日期，不代表论文的发表时间）