Research overview of indoor localization methods for autonomous mobile robots

GAO Yun-feng; ZHOU Lun; L Ming-rui; LIU Wen-tao

doi:10.13873/j.1000-97872013.12.026

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Research overview of indoor localization methods for autonomous mobile robots

更新时间：2025-09-11

- Research overview of indoor localization methods for autonomous mobile robots
- Vol. 32, Issue 12, Pages: 1-5+9(2013)
- 作者机构：
  
  哈尔滨工业大学机器人技术与系统国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872013.12.026
  CLC： TP242
- Published：2013
- 稿件说明：
移动端阅览
[1]高云峰,周伦,吕明睿,刘文涛.自主移动机器人室内定位方法研究综述[J].传感器与微系统,2013,32(12):1-5+9.

GAO Yun-feng, ZHOU Lun, L Ming-rui, et al. Research overview of indoor localization methods for autonomous mobile robots[J]. 2013, 32(12): 1-5+9.
[1]高云峰,周伦,吕明睿,刘文涛.自主移动机器人室内定位方法研究综述[J].传感器与微系统,2013,32(12):1-5+9. DOI： 10.13873/j.1000-97872013.12.026.

GAO Yun-feng, ZHOU Lun, L Ming-rui, et al. Research overview of indoor localization methods for autonomous mobile robots[J]. 2013, 32(12): 1-5+9. DOI： 10.13873/j.1000-97872013.12.026.

摘要

自主移动机器人的室内定位作为机器人研究领域中最基本的问题已被广泛研究。根据定位技术和传感器的不同

将室内定位方法分为航迹推算定位、地图匹配定位和基于信标定位三类。详细介绍了超声波网络定位系统和基于无线射频识别（RFID）的定位方法。对几种基于概率的定位算法做了分析和对比

并对自主移动机器人室内定位方法的研究方向做了展望。

Abstract

Being a fundamental issue in the research of issue

indoor localization of autonomous mobile robots has been thoroughly studied. According to the difference between localization techniques and sensors indoor localization methods are classified into three categories: dead-reckoning localization

map-matching localization and beacon-based localization. The ultrasonic wave network positioning system and RFID-based localization method are interpreted in detail. Several localization algorithms based on probability are analyzed and compared

the research directions of autonomous mobile robot localization methods are prospected.

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references

基于RFID技术的移动机器人定位方法研究 [J]. 方毅. 微型电脑应用 . 2011(06)

移动机器人的改进无迹粒子滤波蒙特卡罗定位算法 [J]. 宋宇,孙富春,李庆玲. 自动化学报 . 2010(06)

无线传感器网络[M]. 清华大学出版社 , 孙利民等编著, 2005

Topological localization with kidnap recovery using sonar grid map matching in a home environment [J] . Jinwoo Choi,Minyong Choi,Wan Kyun Chung. Robotics and Computer Integrated Manufacturing . 2011 (3)

Autonomous indoor ultrasonic positioning system based on a low-cost conditioning circuit [J] . Alberto Sanchez,Angel de Castro,Santiago Elvira,Guillermo Glez-de-Rivera,Javier Garrido. Measurement . 2011 (3)

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