移动机器人里程表、罗盘和信标距离传感器融合

Int. J. Artif. Intell. Mach. Learn. Pub Date : 2020-01-01 DOI:10.4018/ijaiml.2020010101

R. Fraanje, René Beltman, Fidelis Theinert, M. V. Osch, Teade Punter, John Bolte

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引用次数: 0

摘要

研究了基于噪声里程计、罗盘和信标距离测量的差动驱动移动机器人姿态估计问题。将未知输入的状态估计问题转化为已知输入和过程噪声项的状态估计问题。提出了一种求解该状态估计问题的启发式传感器融合算法，并在仿真实验中与扩展卡尔曼滤波解和粒子滤波解进行了比较。

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Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass, and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.

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Int. J. Artif. Intell. Mach. Learn.

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