基于自适应金枪鱼鱼群优化的传感器融合技术改进机器人定位和映射

IF 5.2 2区 计算机科学 Q2 ROBOTICS
M. Sivapalanirajan, M. Willjuice Iruthayarajan, B. Vigneshwaran
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引用次数: 0

摘要

移动机器人的定位是实现自主性的关键。有效的定位系统集成了来自多个传感器的数据,以增强状态估计并实现准确定位。准确的实时定位是机器人控制和轨迹跟踪的关键。关键的挑战包括初始化惯性测量单元(IMU)偏差和重力方向,以及用单目摄像机确定公制尺度。传统的视觉惯性(VI)初始化技术依赖于精确的视觉运动评估来解决这些问题。多传感器融合面临着许多挑战,如精确校准、传感器组初始化以及处理不同速率和延迟的测量误差。介绍了一种基于环境条件动态调整定位策略的自适应金枪鱼鱼群优化方法。优化算法中考虑了影响定位过程的环境因素,对定位位置进行了优化选择。使用q -学习和Q-DNN来执行基于过去经验的决策过程。权重参数的动态自适应使算法收敛于最优解,降低了计算复杂度。实验结果表明,即使在具有挑战性的条件下,该方法也能提高定位性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Improved Robot Localization and Mapping Using Adaptive Tuna Schooling Optimization With Sensor Fusion Techniques

Improved Robot Localization and Mapping Using Adaptive Tuna Schooling Optimization With Sensor Fusion Techniques

Localization in mobile robotics is essential for achieving autonomy. Effective localization systems integrate data from multiple sensors to enhance state estimation and achieve accurate positioning. Accurate real-time localization is crucial for robot control and trajectory following. Key challenges include initializing the inertial measurement unit (IMU) biases and the direction of gravity, as well as determining the metric scale with a monocular camera. Traditional visual–inertial (VI) initialization techniques rely on precise vision-only motion assessments to address these issues. Multi-sensor fusion faces challenges, such as precise calibration, initialization of sensor groups, and handling measurement errors with varying rates and delays. This paper introduces an Adaptive Tuna Schooling Optimization (ATSO) method to adjust localization strategies based on environmental conditions dynamically. The environmental factors affecting the localization process are considered in the optimization algorithm, and the position is optimally selected accordingly. Using Q-learning with the Q-DNN performs the decision-making process based on past experiences. The dynamic adaptation of the weight parameter allows the algorithm to converge toward optimal solutions, reducing computational complexity. Experimental results demonstrate that the proposed approach improves localization performance, even in challenging conditions.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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