【摘要】 提出一种在已知的结构化环境中,利用激光传感器信息进行移动机器人快速自定位的算法.该算法从传感器信息中快速提取环境特征点,根据特征点的坐标映射模型,确定机器人的坐标和方向角.它克服了传统算法运算量大、实时性差的问题且定位精度高,将其应用于机器人足球赛中,取得了较好的定位效果.更多还原

【Abstract】 A fast robotic self localization method under known environments is proposed using the information from onboard laser sensor. The positions of mobile robot are determined by matching the environment model with virtual borderlines which are obtained from the character points by the eigenfunction. This method is highly precise and gets over the real-time performance. The effect is proved by the applications in robot soccer.更多还原