| 基于回朔式EKF的多传感器融合在移动机器人自定位中的应用 |
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| 引用本文： | 李玉榕,杨富文.基于回朔式EKF的多传感器融合在移动机器人自定位中的应用[J].福州大学学报(自然科学版),2001,29(3):54-58. |
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| 作者姓名： | 李玉榕 杨富文 |
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| 作者单位： | 福州大学电气工程系, |
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| 基金项目： | 福建省自然科学基金资助! (A0 0 10 0 0 6 ) |
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| 摘 要： | 提出了一种基于扩展卡尔曼滤波器 (EKF)的多传感器融合系统 ,用于融合多个超声波传感器及光电编码器的测量值 ,并以该融合值来复位光电编码器 ,克服其累积误差的影响 .由于扩展卡尔曼滤波器是一项耗时的计算任务 ,为了满足实时性的要求 ,采用一种基于回朔式的算法 .仿真实验表明了该算法的有效性
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| 关 键 词： | 移动机器人 定位 传感器 滤波器 算法 |
| 文章编号： | 1000-2243(2001)03-0054-05 |
| 修稿时间： | 2000年10月30 |
Application of retroactive EKF-based multisensor fusion to the self-localization of mobile robot |
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| LI Yu-rong,YANG Fu-wen.Application of retroactive EKF-based multisensor fusion to the self-localization of mobile robot[J].Journal of Fuzhou University(Natural Science Edition),2001,29(3):54-58. |
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| Authors: | LI Yu-rong YANG Fu-wen |
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| Institution: | (Department of Electrical Engineering, Fuzhou University, Fuzhou, Fujian 350002, China) |
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| Abstract: | Fusing the multisensor datum can significantly raise the precision of the self-localization. In this paper, a kind of multisensor fusion system based on Extended Kalman Filter(EKF) is presented which is used to fuse the measurements of multiple ultrasonic sensors and photoelectric code-recorder. And photoelectric code-recorder is then reset by the fusion result in order to eliminate the influence of its cumulative errors. Because EKF is a time-consuming calculation, a kind of retroactive algorithm is adopted in order to satisfy the real-time requirement. Simulation result shows the validity of this algorithm. |
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| Keywords: | mobile robot localization sensor filter algorithm |
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