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应用科学学报 ›› 2009, Vol. 27 ›› Issue (5): 532-537.

• 控制与系统 • 上一篇    下一篇

应用聚类进行移动机器人定位

徐玉华;张崇巍;万亭亭   

  1. 合肥工业大学电气与自动化工程学院，合肥230009
  • 收稿日期:2009-06-12 修回日期:2009-08-12 出版日期:2009-09-25 发布日期:2009-09-25
  • 通信作者: 徐玉华，博士生，研究方向：移动机器人定位、导航，E-mail: robot802@gmail.com；张崇巍，教授，博导，研究方向：可再生能源利用、特种电源、网络控制技术与自动化仪表等，E-mail: eehut@mail.hf.ah.cn
  • 基金资助:
    先进数控技术江苏省高校重点建设实验室基金(No.KXJ07127)资助项目

Localization of Mobile Robot Based on Clustering

  1. School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, China
  • Received:2009-06-12 Revised:2009-08-12 Online:2009-09-25 Published:2009-09-25

PDF

1360

被引次数

7

摘要：

提出一种基于激光测距雷达的移动机器人定位新方法. 对每帧扫描数据进行聚类，对前后帧扫描数据按类进行匹配，获得两种匹配类，即完整匹配类和非完整匹配类. 对完整匹配类，取它们的两对端点以及质心作为匹配点；而对非完整匹配类，只取两对端点作为匹配点. 采用随机采样一致性算法剔除匹配点集中的外点，用非线性最小二乘法估计机器人运动参数，从而确定出机器人的当前位姿. 在静态和动态室内环境下进行的实验验证了该文提出方法的有效性.

关键词: 移动机器人, 定位, 聚类, 随机采样一致性算法, 激光测距雷达

Abstract:

In this paper, a new localization method for mobile robot is developed based on a laser range finder. The scanned data points in each frame are first divided into clusters. The current and previous scans are matched
according to the clusters to obtain two types of match clusters, holonomic matches and nonholonomic. For a pair
of holonomically matched clusters, both pairs of endpoints and centroids are considered as match points, while
for nonholonomically matched clusters, only endpoints are considered as match points. Random sample consensus (RANSAC) algorithm is then used to remove outliers, and nonlinear least squares method is adopted to estimate the motion parameters of the mobile robot. Experimental results demonstrate that the approach has satisfactory performance in both static and dynamic indoor environments.

Key words: mobile robot, localization, clustering, RANSAC, laser range finder

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