A localization system of mobile robots using artificial landmarks
A localization system of mobile robots using artificial landmarks
复制标题
使用人工地标的移动机器人定位系统
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
Tae
中科院分区：
文献类型：
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作者：
Dong;A. Oh;Tae
提出了一种室内移动机器人定位系统。定位系统包括用于全球定位的照相机和人工地标，以及用于局部定位的编码器和陀螺仪传感器。采用卡尔曼滤波来考虑各传感器的随机误差。此外，我们开发了一个航位推算系统，当机器人进入盲点时，它无法看到人工地标，从而估计其全球位置。采用模块化网络设计学习引擎，以提高航位推算系统的性能。实验结果验证了该定位系统的有效性。
This paper proposes a localization system for indoor mobile robots. The localization system includes a camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also, we develop a dead reckoning system to estimate the global position when the robot moves into blind spots, where it cannot see artificial landmarks. Learning engines using modular networks are designed to improve the performance of the dead reckoning system. The experimental results are then presented to verify the usefulness of the proposed localization system.