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中文摘要：
基于目前结构环境下的机器人定位问题,将机器人定位的概率问题转换为有限空间范围内的极小值搜索问题,实现了一种新的基于机器自学习的搜索方法.为了保证定位的实时性与定位精度,提出了一个能自动调整搜索步长的自适应搜索算法,解决了RoboCup中型组足球机器人的自定位问题,并在实际环境中完成了算法有效性测试.
英文摘要：
In order to solve the problem of robot self-localization in structure environment,a fast and robust approach for self-localization implemented in robotic soccer was presented.In the approach,the probability of robot localization problem was converted to a minimum value in the range of a limited searching space.To achieve high searching efficiency and avoid the local optimum of particle filter method,a self-adaptive search algorithm was provided.The experiment results show that the localization method proposed has the advantages of real time and precision and is superior to other current robot localization methods.
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