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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刘洞波,刘国荣,胡慧,喻妙华.基于激光测距的温室移动机器人全局定位方法[J].农业机械学报,2010,41(5):158-163. Mobile Robot Global Localization Based on Laser Range Finder in Greenhouse[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(5):158-163