计算机科学 ›› 2020, Vol. 47 ›› Issue (6A): 599-602.doi: 10.11896/JsJkx.190500018
李忠发, 杨光, 马磊, 孙永奎
LI Zhong-fa, YANG Guang, MA Lei and SUN Yong-kui
摘要: 由于变电站环境复杂,人工巡检强度大、效率低,文中研究了巡检机器人的硬件框架,基于自适应蒙特卡洛算法(Adaptive Monte Carlo Localization,AMCL)完成巡检机器人的定位研究;针对自适应蒙特卡洛算法在实际工程中应用的不足,给出了相应的解决策略;就AMCL算法无法快速进行定位,恢复设计了一种基于数据库的重定位方法,利用数据库存储定位值,当定位失匹配时,获取数据库存储的定位值用于初始化粒子,从而实现快速恢复定位。实验结果表明,改进后的AMCL算法在定位丢失后恢复定位的性能明显优于原始AMCL算法。
中图分类号:
[1] ZHANG P C,GAO X.Digital Substation System Structure.Power System Technology,2006,30(24):73-77. [2] XU H M.Design and implementation of substation inspection system based on Pocket PC and.NET platform .BeiJing:BeiJing University of Posts and Telecommunications,2006. [3] CHEN Y.Design and implementation of global path planning forsubstation intelligent inspection robot .Jinan:Shandong University,2015. [4] THRUN S,FOX D,BURGARD W,et al.Robust Monte Carlo Location for mobile robot .Artificial Intelligence,2001,128(1/2):99-141. [5] KWON T B,SONG J B,JOO S H.Elevation moment of inertia:A new feature for Monte Carlo localization in outdoor environment with elevation map..Journal of Field Robotics,2010,27(27):371-386. [6] THRUN S,BURGARD W,FOX D.Probabilistic Robotics.MIT Press,2005. [7] ZHANG L,ZAPATA R,LPINAY P.Self-adaptive MonteCarlo localization for mobile robots using range finders//IEEE/RSJ International Conference on Intelligent Robots & Systems.IEEE Press,2009. [8] CHEN N.Research on indoor navigation system based on UWB and inertial navigation fusion .Harbin:Harbin Institute of Technology,2018. [9] JIA Y Y.Research on indoor positioning method of mobile robot based on ROS system.TianJin:TianJin University of Technology,2019. [10] YANG J Z.Optimization of Positioning and Path Planning Algorithm for Indoor Mobile Robot.Hefei:University of Science and Technology of China,2019. |
[1] | 罗熊丰, 翟象平. 基于空间运动约束的无人机碰撞回避规划 Collision Avoidance Planning for Unmanned Aerial Vehicles Based on Spatial Motion Constraints 计算机科学, 2022, 49(9): 194-201. https://doi.org/10.11896/jsjkx.210700107 |
[2] | 何晓, 周佳立, 吴超. 面向铣削机器人的低成本精确标定及刀路拟合方法 Low Cost Accurate Calibration and Tool Path Fitting Method for Milling Robot 计算机科学, 2022, 49(7): 187-195. https://doi.org/10.11896/jsjkx.210500135 |
[3] | 王兵, 吴洪亮, 牛新征. 基于改进势场法的机器人路径规划 Robot Path Planning Based on Improved Potential Field Method 计算机科学, 2022, 49(7): 196-203. https://doi.org/10.11896/jsjkx.210500020 |
[4] | 常炳国, 石华龙, 常雨馨. 基于深度学习的黑色素瘤智能诊断多模型算法 Multi Model Algorithm for Intelligent Diagnosis of Melanoma Based on Deep Learning 计算机科学, 2022, 49(6A): 22-26. https://doi.org/10.11896/jsjkx.210500197 |
[5] | 尹宏俊, 邓楠, 程亚迪. 基于加速度模糊控制的六足机器人遥操作 Teleoperation Method for Hexapod Robot Based on Acceleration Fuzzy Control 计算机科学, 2022, 49(6A): 714-722. https://doi.org/10.11896/jsjkx.210300076 |
[6] | 穆逢君, 邱静, 陈路锋, 黄瑞, 周林, 于功敬. 面向人机协同的物体姿态估计帧间稳定性优化方法 Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration 计算机科学, 2021, 48(11): 226-233. https://doi.org/10.11896/jsjkx.201200095 |
[7] | 陈继清, 谭成志, 莫荣现, 王志奎, 吴家华, 赵超阳. 基于人工势场的A*算法的移动机器人路径规划 Path Planning of Mobile Robot with A* Algorithm Based on Artificial Potential Field 计算机科学, 2021, 48(11): 327-333. https://doi.org/10.11896/jsjkx.200900170 |
[8] | 吴培培, 吴兆贤, 唐文兵. 基于吸收态马尔可夫链的智能无人车系统实时性能分析 Real-time Performance Analysis of Intelligent Unmanned Vehicle System Based on Absorbing Markov Chain 计算机科学, 2021, 48(11A): 147-153. https://doi.org/10.11896/jsjkx.210300050 |
[9] | 王梓强, 胡晓光, 李晓筱, 杜卓群. 移动机器人全局路径规划算法综述 Overview of Global Path Planning Algorithms for Mobile Robots 计算机科学, 2021, 48(10): 19-29. https://doi.org/10.11896/jsjkx.200700114 |
[10] | 田野, 陈宏巍, 王法胜, 陈兴文. 室内移动机器人的SLAM算法综述 Overview of SLAM Algorithms for Mobile Robots 计算机科学, 2021, 48(9): 223-234. https://doi.org/10.11896/jsjkx.200700152 |
[11] | 陈镜宇, 郭志军, 尹亚昆. 基于混合算法的智能割草机全遍历路径规划及其系统设计 Full Traversal Path Planning and System Design of Intelligent Lawn Mower Based on Hybrid Algorithm 计算机科学, 2021, 48(6A): 633-637. https://doi.org/10.11896/jsjkx.201100002 |
[12] | 王文博, 黄璞, 杨章静. 基于超宽带、里程计、RGB-D融合的室内定位方法 Indoor Positioning Method Based on UWB Odometer and RGB-D Fusion 计算机科学, 2020, 47(11A): 334-338. https://doi.org/10.11896/jsjkx.200200033 |
[13] | 禹鑫燚, 殷慧武, 施甜峰, 唐权瑞, 柏继华, 欧林林. 基于OPC UA的工业设备数据采集系统 Data Acquisition System of Industrial Equipment Based on OPC UA 计算机科学, 2020, 47(11A): 609-614. https://doi.org/10.11896/jsjkx.200500060 |
[14] | 姜辰凯, 李智, 盘书宝, 王勇军. 基于改进Dijkstra算法的AGVs无碰撞路径规划 Collision-free Path Planning of AGVs Based on Improved Dijkstra Algorithm 计算机科学, 2020, 47(8): 272-277. https://doi.org/10.11896/jsjkx.190700138 |
[15] | 李虎, 方宝富. 基于积极团队情感基调的情感机器人协作任务分配拍卖算法 Emotional Robot Collaborative Task Assignment Auction Algorithm Based on Positive GroupAffective Tone 计算机科学, 2020, 47(4): 169-177. https://doi.org/10.11896/jsjkx.190900188 |
|