| 传感器融合在多机器人合作定位中的应用 |
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| 引用本文： | 刘显荣.传感器融合在多机器人合作定位中的应用[J].科技通报,2011,27(2):277-281. |
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| 作者姓名： | 刘显荣 |
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| 作者单位： | 华南理工大学控制与优化中心,广州,510640 |
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| 基金项目： | 国家自然科学基金(60925013) |
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| 摘 要： | 机器人的定位技术是进行机器人环境探索、协调运动研究的前提,从信息融合的思想出发,提出了一种融合多传感器信息的合作定位技术.首先,对两轮机器人的基本运动形式进行建模,并针对超声波传感器建立了机器人之间的相对观测方程.然后,分别对机器人的内、外部传感器进行滤波和第一级融合,得到自身位姿和相对观测信息.最后,利用扩展卡尔曼滤...
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| 关 键 词： | 传感器融合 多机器人系统 合作定位 扩展卡尔曼滤波 |
Application of Sensor Fusion in Multi-robot Cooperative Localization |
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| LIU Xianrong.Application of Sensor Fusion in Multi-robot Cooperative Localization[J].Bulletin of Science and Technology,2011,27(2):277-281. |
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| Authors: | LIU Xianrong |
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| Institution: | LIU Xianrong(Centre for Control and Optimization,South China University of Technology,Guangzhou 510640,China) |
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| Abstract: | Robot localization is the premise of other robot research,such as environment explore and motion coordination.Inspired by information fusion,a novel multi-robot cooperative localization technology is presented,which fuses the robot's multiple sensor data.First,the basic motion form of the two-wheel robot was modeled,and the relative observing formula was built aiming at the ultrasonic sensor.Then filtering and first-level fusion were applied to robots proprioceptive and exteroceptive sensors respectively,by... |
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| Keywords: | sensor fusion multi-robot system cooperative localization EKF |
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