基于粒子滤波的移动机器人跟踪定位算法

摘要

According to the problem of real time tracking and positioning of the mobile robot in the nonlinear system, the tracking and localization algorithm for mobile robot based on particle filter was researched. The particle filter algorithm is introduced in the control system, and on this basis the degradation factor is introduced, and the simulation validation was carried out at last. The results showed that the failure and single sample problem in nonlinear system of particle filtering algorithm could be avoided by this algorithm, and the non-Gaussin noise in mobile robot tracking and positioning system could be ameliorated, so that the positioning accuracy of mobile robot could be improved obviously.%针对移动机器人在非线性系统中匀速运动的实时跟踪定位问题,对基于粒子滤波的移动机器人跟踪定位算法进行研究.在控制系统中引入粒子滤波算法,并在此基础上引入退化因子,最后进行仿真验证.结果表明:该算法能避免粒子滤波算法在非线性系统的失效和单样本等问题,改善移动机器人在跟踪定位系统中的非高斯噪声影响,明显提高移动机器人定位精度.