| 基于集员滤波的移动机器人动态环境建模 |
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| 引用本文： | 周波,樊帅权,戴先中.基于集员滤波的移动机器人动态环境建模[J].东南大学学报(自然科学版),2011,41(1):107-112. |
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| 作者姓名： | 周波 樊帅权 戴先中 |
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| 作者单位： | 东南大学自动化学院; |
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| 基金项目： | 国家高技术研究发展计划(863计划)资助项目(2006AA040202) |
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| 摘 要： | 针对移动机器人动态环境建模中动态的障碍物/目标跟踪定位问题,提出了一种采用集员滤波框架来解决动态障碍物/目标跟踪的方法.与传统的概率估计方法相比,该方法无需噪声的概率先验假设,仅要求噪声未知但有界,从而保证了方法的普遍性和实用性,且能够获得动态目标的状态或参数的不确定性偏差边界,有利于与后继路径规划和运动控制的结合,以...
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| 关 键 词： | 移动机器人 动态环境建模 目标跟踪 集员滤波 |
Dynamic environment modeling of mobile robots based on set membership filter |
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| Zhou Bo,Fan Shuaiquan,Dai Xianzhong.Dynamic environment modeling of mobile robots based on set membership filter[J].Journal of Southeast University(Natural Science Edition),2011,41(1):107-112. |
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| Authors: | Zhou Bo Fan Shuaiquan Dai Xianzhong |
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| Institution: | Zhou Bo Fan Shuaiquan Dai Xianzhong(School of Automation,Southeast University,Nanjing 210096,China) |
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| Abstract: | A set membership filter scheme is presented to solve the problem of dynamic obstacles or objects tracking for mobile robots.Compared with traditional probability estimation methods,the method presented in this paper does not need the priori probabilistic assumption of the noise.It only requires that the noise is unknown but bounded which ensures its universality and practicality.And this algorithm can obtain the boundaries of the estimation of state or parameters.So it can be combined with path planning and... |
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| Keywords: | mobile robot dynamic environment modeling target tracking set membership filter |
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