信息与控制2012，Vol.41Issue(4)：406-412,7.DOI:10.3724/SP.J.1219.2012.00406
移动机器人扩展卡尔曼滤波定位与传感器误差建模
EKF Localization and Sensor Error Modeling for Mobile Robots
安雷 1张国良 1张维平 1敬斌1
作者信息
- 1. 第二炮兵工程大学理学院,陕西西安710025
- 折叠
摘要
Abstract
For the accumulated errors of the odometry in the process of localization, a general odometry error model for mobile robots is established to compensate the odometry errors via feedback in real time. According to the errors of original data from the laser radar, an observation error model for laser radar is established. The observation model for mobile robots is designed according to the environmental features and the relative position of mobile robots. Further, extended Kalman filter is used by combining the odometry and laser radar error model to realize the mobile robots' localization based environmental feature tracking. The experimental results illustrate that the location accuracy of the robots is improved effectively with increasing a little locating time by introducing odometry and laser radar error model.关键词
移动机器人定位/里程计/激光雷达/误差建模/扩展卡尔曼滤波Key words
mobile robot localization/ odometer/ laser radar/ error modeling/ extended Kalman filter (EKF)
分类
信息技术与安全科学引用本文复制引用
安雷,张国良,张维平,敬斌..移动机器人扩展卡尔曼滤波定位与传感器误差建模[J].信息与控制,2012,41(4):406-412,7.
