Method of mobile robot global localization based on laser range finder in greenhouse

被引：0
|
作者：
Liu D. [1 ,2 ]
Liu G. [1 ,2 ]
Hu H. [1 ,2 ]
Yu M. [2 ]
机构：
[1] College of Electrical and Information Engineering, Hunan University
[2] College of Computer and Communication, Hunan Institute of Engineering
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2010年 / 41卷 / 05期
关键词：
Adaptive curvature estimation; Greenhouse; Laser range finder; Mobile robot; Monte Carlo localization;
D O I：
10.3969/j.issn.1000-1298.2010.05.032
中图分类号：
学科分类号：
摘要：
To deal with the localization problem of robot equipped with laser sensor, a mobile robot Monte Carlo self-localization method based on adaptive curvature estimation for environmental features extracted was proposed. During the mobile robot localization, poses of the robot were predicted by motion-model, and then distribution of particles set was updated according to the similarity measurements of geometry by observation model, and robot self-localization was realized. Simulation experiments showed the proposed method could satisfy the requirements of the mobile robot self-localization in greenhouse.
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页码：158 / 163
页数：5
相关论文
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