| Related citation: | Lin Jiang,Han Wang,Bin Lei,Jianyang Zhu,Huaiguang Liu,Hui Zhao.Self-Recovery of Localization Loss for Indoor Mobile Robot[J].Journal of Harbin Institute Of Technology(New Series),2020,27(2):46-57.DOI:10.11916/j.issn.1005-9113.18116. |
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| Author Name | Affiliation | | Lin Jiang | Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081, China | | Han Wang | Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081, China | | Bin Lei | Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081, China | | Jianyang Zhu | Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081, China | | Huaiguang Liu | Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081, China | | Hui Zhao | Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan 430081, China |
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| Abstract: |
| In order to solve the problem of localization loss that an autonomous mobile robot may encounter in indoor environment, an improved Monte Carlo localization algorithm is proposed in this paper. The algorithm can identify the state of the robot by real-time monitoring of the mean weight changes of the particles and introduce more high-weight particles through the divergent sampling function when the robot is in the state of localization loss. The observation model will make the particle set slowly approach to the real position of the robot and the new particles are then sampled to reach the position. The loss self-recovery experiments of different algorithms under different experimental scenarios are presented in this paper. |
| Key words: indoor mobile robot self-recovery localization loss improved Monte Carlo localization algorithm |
| DOI：10.11916/j.issn.1005-9113.18116 |
| Clc Number:TP249 |
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| Descriptions in Chinese: |
| 室内移动机器人在定位丢失时的自恢复研究 蒋林1，王翰1, 雷斌1*, 朱建阳1, 刘怀广1, 赵慧2 （1.武汉科技大学 冶金装备及控制教育部重点实验室,武汉,430081； 2.武汉科技大学 机器人与智能系统研究院，武汉 430081） 创新点说明：针对机器人“绑架”问题，本文具体分析机器人离实际位置点较近和较远的“绑架”类型，以及不同绑架类型所对应机器人的状态和造成这种状态的原因。为判断机器人是否处于“绑架”状态，本文提出改进蒙特卡洛定位算法(IMCL)，该算法通过检测粒子均权重的突变进行判断，并针对机器人处于不同的状态采用不同的重采样策略来改进粒子集，进而帮助机器人重新找到自己的真实位置。 关键词：室内移动机器人；自恢复；定位丢失；改进蒙特卡洛定位算法 |
