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Optimal arrangement of artificial landmarks-stargazer in large environment

机译:大环境下人工地标-寻星者的最佳布置

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It is important to set artificial landmarks when a robot needs to navigate in a large and dynamic environment and to measure its own location. However, it has not been discussed well how to arrange landmarks in the optimal way until now. In this paper, the optimal arrangement of artificial landmarks based on StarGazer was studied. The optimal model was built after the analysis to the principal of StarGazer. Genetic algorithm was adopted to solve this optimal model. The Simulation result shows this method can solve the optimal arrangement of artificial landmarks in large environment, the performance of the coverage and evenness can be satisfied.
机译:当机器人需要在大型动态环境中导航并测量其自身位置时,设置人造地标非常重要。但是,到目前为止,还没有很好地讨论如何以最佳方式布置界标。本文研究了基于StarGazer的人工地标的最优布置。经过对StarGazer原理的分析,建立了最优模型。采用遗传算法求解该最优模型。仿真结果表明,该方法能够解决大环境下人工地标的优化布置问题,能够满足覆盖性能和均匀性的要求。

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