Research on Multi-sensor Dynamic Weighted Fusion Location Algorithm
MA Teng
MAO Jian
Abstract：The problem of grid map accuracy will lead to the inaccurate positioning of correlation scan matching(CSM)algo-rithm,and the poor positioning effect of CSM algorithm may be caused when the mobile robot has a single driving environment struc-ture.In this paper,a multi-sensor dynamic weighted fusion localization algorithm is proposed.To solve the problem that the CSM al-gorithm is not accurate enough due to the limited resolution of the grid map,the pose optimization strategy based on map interpola-tion is adopted.In order to prevent the poor positioning effect of CSM algorithm due to the single environment structure,a dynamic weighted fusion positioning algorithm is proposed.The CSM algorithm positioning results are weighted according to the complexity of the environment,and the position and attitude information obtained from the odometer and IMU data fused by the extended Kalman filter are weighted fusion,so as to improve the positioning accuracy of the algorithm.The positioning experiment results show that compared with the original CSM algorithm,the average positioning error of this algorithm is reduced by 36.3%,the maximum error is reduced by 39.5%,and the positioning accuracy is improved,which can effectively improve the poor positioning effect of the orig-inal CSM algorithm caused by the single environment structure.
Keywords：mobile robotmultisensor fusioncorrelation scan matchinglocationlaser SLAM
Publication Date：2025-05-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 1311-1316 )