Detecting the Mobile Robot Position Using the Profile of Known Environment

摘要

The present wayward robot on the task tracks the coordinate search, using only scanners, located inside robot. In order to determine robot coordinates, the virtual scanner and scanner obtained profiles are used. The profile mismatch formed optimization criteria, the surface of which has a lot of local minimum, a number of which depends on the scanning step. Selected scanning angle step size, and determined what should be the optimization strategy, that the searched result converged. The obtained results allow carrying out further research, given the setup process dynamics, the robot moves and coordinate accuracy is a critical problem solution in determining the coordinates, time.DOI: http://dx.doi.org/10.5755/j01.eee.19.7.5156