用优化布局的反射器实现低成本高精度室内定位
Indoor Positioning Based on Active Radar Sensing and Passive Reflectors: Reflector Placement Optimization
- 基于粒子群算法优化反射器二维布局
- 在复杂房间中实现高精度定位，成本低
- 适合部署于自主移动机器人场景
我们扩展了基于雷达感知局部被动雷达反射器的新型室内定位系统（IPS），用于自主移动机器人（AMRs）。通过简单反射器与单通道调频连续波（FMCW）雷达的结合，可在低成本下实现高定位精度。此外，提出一种多目标（MO）粒子群优化（PSO）算法，用于优化复杂房间环境中的雷达反射器二维布局。该方法显著提升了定位性能，同时保持系统简洁性与经济性。
原文摘要 · Abstract (English)
We extend our work on a novel indoor positioning system (IPS) for autonomous mobile robots (AMRs) based on radar sensing of local, passive radar reflectors. Through the combination of simple reflectors and a single-channel frequency modulated continuous wave (FMCW) radar, high positioning accuracy at low system cost can be achieved. Further, a multi-objective (MO) particle swarm optimization (PSO) algorithm is presented that optimizes the 2D placement of radar reflectors in complex room settings.
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