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基于概率栅格地图的移动机器人可定位性估计
  • ISSN号：1002-0446
  • 期刊名称：机器人
  • 时间：2012
  • 页码：485-491
  • 分类：TP24[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]上海交通大学自动化系系统控制与信息处理教育部重点实验室,上海200240
  • 相关基金：国家863计划资助项目（2012AA041403）;国家自然科学基金资助项目（61175088,60934006）;教育部博士点基金资助项目（20100073110018）.
  • 相关项目：复杂环境下智能轮椅的感知与控制
作者： 王炜|陈卫东|王勇|
关键词： 概率栅格地图, 可定位性, 信息矩阵, 移动机器人, probabilistic grid map, localizability, information matrix, mobile robot
中文摘要：

基于广泛使用的概率栅格地图,提出了一种移动机器人可定位性估计方法.通过对定位Fisher信息矩阵进行栅格离散化,提出了静态可定位性矩阵,该矩阵适用于已知地图条件下的离线估计.在此基础上,针对在线估计中环境存在的非预期动态变化问题,采用局部感知的未知障碍物影响因子来修正静态可定位性矩阵,进而得到动态可定位性矩阵,该矩阵定量描述了机器人可定位性能力及其方向性.各种典型环境下的机器人实验结果表明了所提方法的有效性.

英文摘要：

Based on the widely used probabilistic grid map, a localizability estimation method for mobile robots is pro- posed. Firstly, the Fisher information matrix （FIM） of robot localization is transformed into discrete form, and a static localizability matrix suitable for off-line estimation based on the known grid map is obtained. On this basis, the impact factor of locally sensed unkown obstacles is adopted to modify the static localizability matrix, and a dynamic localizability matrix is proposed for on-line estimation to deal with unexpected dynamic changes of environments. This matrix describes both the localizability index and localizability direction of mobile robots quantitatively. The results of real robot experiments under different typical environments demonstrate the validity of the proposed method.

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期刊信息
  • 《机器人》
  • 中国科技核心期刊
  • 主管单位:中国科学院
  • 主办单位:中国自动化学会 中国科学院沈阳自动化研究所
  • 主编：王越超
  • 地址：沈阳市南塔街114号
  • 邮编：110016
  • 邮箱：jqr@sia.ac.cn
  • 电话：024-23970050
  • 国际标准刊号：ISSN：1002-0446
  • 国内统一刊号：ISSN：21-1137/TP
  • 邮发代号:
  • 获奖情况:
  • 中文核心期刊（2000年）
  • 国内外数据库收录:
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  • 被引量:11997