A Novel Localization Method for Indoor Mobile Robot Based on Adaptive Weighted Fusion

被引：0
作者：
Sun, Jincheng [1 ]
Luo, Yang [2 ]
Jiang, Yunxiang [2 ]
Ye, Dan [1 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
来源：
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Mobile robot; adaptive weighted fusion; multi-sensors fusion; localization; ROBUST;
D O I：
10.1109/CCDC58219.2023.10326671
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Localization is a critical issue in autonomous robot navigation and path planning. In this paper, a novel localization method based on adaptive weighted fusion (AWF) is proposed. The method incorporates visual recognition of artificial landmarks and employs different adaptive fusion algorithms based on the pose and position of the mobile robot. Precisely, the method consists of three steps. First, a discrete motion model of the mobile robot is established. Second, the NDT-based laser rangefinder localization method is employed and visual odometry is replaced with artificial landmark recognition, with an analysis of the error model of the IMU and odometer. Finally, Adaptive Weighted Fusion (AWF) algorithm is utilized to fuse the sensor information mentioned above and correct the position and direction of the mobile robot. Experimental results demonstrate that the proposed AWF localization method can significantly improve the localization accuracy of the mobile robot. This research direction is promising and is expected to have broader applications in practical settings.
引用
收藏
页码：2336 / 2341
页数：6
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