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针对基于路标组的机器人定位方法中存在的定位不确定性问题,提出一种基于多元M序列的人工路标设置方法.利用多元M序列的最长周期特性,使用最少种类的路标,生成满足路标组全局唯一性要求的路标设置方案.该方法通过减少路标种类来扩大路标特征差异,进而提高定位对测量噪声的抗干扰能力.该方法在变电站巡检机器人系统平台上的实验,以及在不同测量噪声条件下的仿真结果,表明了其有效性.
Aiming at the problem of locating uncertainty existing in the method of locating robots based on road markings, a method of setting up artificial signposts based on multivariate M sequences is proposed.Using the longest periodicity of multivariate M sequences, This method improves the anti-jamming ability of positioning noise on measurement noise by reducing the types of road signs.This method is based on the experiment of substation inspection robot system platform, The simulation results show that its effectiveness.