| The precise positioning of the robot is one of the key technologies to realize the autonomy of the mobile robot,and it is also the basis of the autonomous operation of the mobile robot.The problem of global positioning needs to be solved when the mobile robot starts at any position.If the positioning failure is encountered,the problem of relocation needs to be solved.The ability of global positioning and relocation directly affects the practical application of mobile robots.However,the traditional global positioning and relocation methods based on 2D Lidar have the following problems:With the increase of the map,the amount of calculation increases and the positioning efficiency is low;Location error is easy to occur when the environment has similar environment;Moving a robot with an unknown exact pose is a safety hazard.In order to solve these three problems,this paper proposes an improved Monte Carlo localization(MCL)method that integrates ultra-wideband(Ultra Wide Band,UWB)to locate the position and pose of robot quickly,accurately and safely.The main research work is as follows:1)The particle filter localization of UWB is realized.Firstly,the probability measurement model of UWB is constructed,and then the particle filter technology is used to complete the location of UWB based on time of flight(TOF)ranging.2)Aiming at the problems existing in the traditional methods,the MCL algorithm integrating UWB is proposed to realize the fast and accurate positioning of the robot's pose without moving the robot.3)Aiming at the problems of low positioning accuracy and waste of computing resources in the experiment of the second work,this paper proposes a method to improve the low variance resampling process of MCL algorithm based on the particle set state and the fusion particle set scale dynamic adjustment technology,so as to realize the fast,accurate and high-precision positioning of the robot without moving.4)The performance of the improved MCL method incorporating UWB is verified on the actual mobile robot platform and the simulation platform. |
PDF Full Text Request