Mobile robot positioning method based on multi-sensor information fusion laser SLAM

作者：Liu, Zhi-Xiang^*; Xie, Chun-Xue; Xie, Miao; Mao, Jun

来源：Cluster Computing, 2019, 22(2): S5055-S5061.

DOI：10.1007/s10586-018-2474-7

• Wireless sensor network
• Mobile robot
• Positioning method
• Multi-sensor
• Information fusion

A mobile robot positioning method based on multi-sensor information fusion under wireless sensor network (WSNs), called HCKF algorithm, is proposed in this Article to improve the accuracy of mobile robot positioning method. Firstly, the degree of information fusion among sensors was measured according to differences in membership degree of certain Features in different sensor information under different positioning modes, and the weight of different sensors during fusion was determined with membership degree, so as to define the membership degree of same Features among different sensors after information fusion; secondly, a testing environment for mobile robot positioning based on WSN network was established in a gymnasium and was combined with dynamic model of mobile robot for comparison of positioning accuracy of the algorithm proposed. The results show that, under two circumstances of: with noise jamming and with unknown noise jamming, positioning accuracy of the algorithm proposed in this Article is improved by 7 and 15% respectively as compared with the contrast algorithm. The effectiveness of the method proposed in this Article in mobile robot positioning is verified by the results above.

• 出版日期2019-3
• 单位辽宁工程技术大学