计算机工程2012，Vol.38Issue(3)：163-165,3.DOI:10.3969/j.issn.1000-3428.2012.03.055
粒子滤波器在移动机器人故障诊断中的应用
Application of Particle Filter in Mobile Robot Fault Diagnosis
摘要
Abstract
Fault diagnosis and fault prediction is a new area in mobile robots. Eight fault modes are discussed in this paper. An unproved particle filter based approach is proposed to diagnosis and prediction the fault modes of mobile robots. Particle filter is an algorithm that uses swarms of weighted particles in state space to approximate the probability density function of the state. According to the probability distribution of the state, the probability of fault diagnosis can be obtained. The proposed approach is implemented on a mobile robot, and compared with CMAC neural network based fault diagnosis approach. The simulation results show the effectiveness and superiority of the method.关键词
粒子滤波器/系统状态/故障诊断/移动机器人/CMAC神经网络Key words
particle filter/ system state/ fault diagnosis/ mobile robot/ CMAC neural network分类
信息技术与安全科学引用本文复制引用
柳玉甜,樊慧丽..粒子滤波器在移动机器人故障诊断中的应用[J].计算机工程,2012,38(3):163-165,3.基金项目
宁波市自然科学基金资助项目(2009A610106) （2009A610106）
