摘要
定位是确定机器人在其工作环境中所处位置的过程。移动机器人通过传感器感知环境和自身状态,进而实现自主运动。简单地说就是在一个未知的环境中,获取信息、分析环境,确定自己在该环境中的具体位置。利用Matlab与LebVEIW相结合实现对数据的采集,提出一种基于地图的EKF定位方法,从而实现精确定位。结合LABO-3的特点对机器人的定位问题进行研究,达到在实际中的应用。
Localization is a process to ensure the location of robot in its working environment. The robot can do automatic motion by the sensor get the information of environment and the condition of robot itself. In another words,in an unknown environment,the robot can get the information,analyse the condition and ensure the location by itself, this article uses both of the Matlab and LebVEIW to realize the data acquisition,and brings forward a method of EKF localization based on the map,and then to achieve precise localization. The originality of this paper is based on the character of Labo - 3 and make this mothed can be carried out.
出处
《现代电子技术》
2008年第18期61-63,67,共4页
Modern Electronics Technique
