Robot Position Realization Based on Multi-sensor Information Fusion Algorithm
The accurate auto-position is on the basis of many smart actions for mobile robots. The higher cost performance has much significance to the producing process of brainpower robots. This paper works on a differential wheels mobile robot platform. And it researches on the mobile robots auto-position in a complementary manner of information fusion. The sensing equipments contain an Inertial Measurement Unit (IMU) and a speedometer. This preliminary fusion process deals with the robotic movement velocity and angular velocity on data plane. And then, the further fusion on estimation plane, takes advantages of Unscented Kalman Filter (UKF) to estimate the position and orientation of the robot The system test proves that the position method referred in this paper is able to meet the application. In addition, the real-time and accuracy has obtained a satisfactory effett.
Mobile Robot Auto-position Information Fusion UKF
Kai Yuan Heng Wang Hua Zhang
Robotics Laboratory, School of Information Engineering Southwest University of Science and Technology Mianyang, Sichuan, China
国际会议
杭州
英文
294-297
2011-10-28（万方平台首次上网日期，不代表论文的发表时间）