An Integrated Localization System for Mobile Robots in Coal Mines

摘要：

Localization of mobile robots is a key topic. This issue becomes urgent for exploring and rescuing robots in coal mines. Due to invalidation of GPS and scarcity of landmarks, inertial sensors are primary sensors of localization system in coal mines. This paper presents an integrated localization system mainly based on a strap-down inertial measurement unit (SIMU) and a digital compass for exploring and rescuing robots in coal mines and tunnels. After a system model being founded and property of environments being taken into account, a filter combining wavelet-base prefilter and unscented Kalman filter(UKF) was designed for reckoning tracks of robots. Results of a semi-physical simulation have demonstrated that this system can be suitable.

关键词： integrated localization system SIMU digital compass wavelet-based prefilter unscented Kalman filter

作者: Donggui Han Caihua Xiong Youlun Xiong Honghai Liu

作者单位: State Key Lab of Digital Manufacturing Equipment and Technology of China Huazhong University of Scie Institute of Industrial Research University of Portsmouth Portsmouth, England, PO1 3QL, UK

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-7

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）