计算机技术与发展2011，Vol.21Issue(3)：24-27,4.
基于一致性Unsented卡尔曼滤波的多机器人定位
Localization for Multi-Robot Based on Unsented Kalman-Consensus Filter
摘要
Abstract
The problem of robot localization in the process of multi-robot formation was studied in this paper. The position of robot obtained from the image captured by the camera on the ceiling was inaccurate. When one robot was observed by the other robot, use the relative observation, its own position and estimation of the observed robots' position to update the state estimation in the unsented Kalman -consensus filter. The experiment results show that the unsented Kalman-consensus filter method is more effective in dealing with the localization of robot than the unsented Kalman filter method.关键词
多机器人/Unsented卡尔曼滤波/一致性卡尔曼滤波分类
信息技术与安全科学引用本文复制引用
王义..基于一致性Unsented卡尔曼滤波的多机器人定位[J].计算机技术与发展,2011,21(3):24-27,4.基金项目
国家863项目科研基金(2006AA04Z263) （2006AA04Z263）
