Research on a Method for Mobile Robot Localization

Abstract

In this paper, a new method for mobile robot localization was proposed, which combines support vector regression (SVR) with gradient optimization (GO) algorithm. In order to obtain better robustness, support vector regression (SVR) algorithm was studied, the error square of objective function was weighted and the parameters of SVR was optimized by GO. The experimental platform was established by homemade mobile robot with orthogonal encoders and gyroscope positioning system, and the positioning model and kinematics model of robot were analyzed. With the purpose of verifying the performance of the improved algorithm and the proposed positioning system, the improved algorithm was compared with the least squares support vector regression (LSSVR) algorithm and the weighted least squares support vector regression (WLSSVR) algorithm. In addition, the positioning error of the proposed positioning system was compared with the double encoder positioning system and the single encoder fusion gyroscope positioning system. Experimental results indicate that the positioning accuracy of robot is higher by the improved algorithm than comparison algorithms, and the proposed positioning system has a better location performance.