A Research for Tracking of Wheeled Robot with Wireless Sensor Networks
An integrated navigation system of wheeled robot is proposed based on Wireless Sensor Networks and the traditional dead reckoning system, in order to realize complementary advantages between the relative measurement method and the absolute measurement method. Sigma Point Kalman filter algorithm is adopted for wheeled robots to track a given trajectory well. The extended Kalman filter (EKF) and Sigma Point Kalman filter (SPKF) are especially applied to simulate with the integrated navigation system in this paper. Simulation results show that SPKF performs well and the precision of the navigation system is improved.
Integrated navigation system WSN tracking Sigma point Kalman filter Extended Kalman filter
Wu Chengdong Li Cuijuan Zhang Yunzhou Cheng Long Wu Hao
School of Information Science & Engineering Northeastern University Shenyang China
国际会议
重庆
英文
338-342
2011-08-20（万方平台首次上网日期，不代表论文的发表时间）