Study on Adaptive Data Processing of Autonomous Robot
A autonomous robot called Move-in-mud robot is used to excavate the hole in the mud underwater to put the wire rope for uplifting the sunken ship in wreck salvage. Owing to the abominable environment in the mud underwater, the location system is important for move-in-mud robot to move in mud according to the prearranged trajectory. Working principle of move-in-mud robot is analyzed and the location system of move-in-mud robot is designed. With relative location, location errors are accumulated with the increase of move length, so the total errors are increased. LMS adaptive algorithm is widely applied to process data. To improve the accuracy of location system, LMS adaptive algorithm is applied to process the data of location. Based on the theoretical analysis of the adaptive algorithm, LMS adaptive algorithm of location system is applied and simulated with Matlab. The simulation results show that LMS adaptive algorithm can improve the accuracy of location system.
Qingmei YANG Jianmin SUN
Beijing Union University, China Beijing Institute of Civil Engineering and Architecture, China
国际会议
2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)
哈尔滨
英文
2007-05-23（万方平台首次上网日期，不代表论文的发表时间）