测试科学与仪器Issue(2)：52-54,3.DOI:10.3969/j.issn.1674-8042.2014.02.010
卡尔曼滤波器在移动机器人自主定位中的应用
Application of Kalman filter on mobile robot self-localization
摘要
Abstract
Self-localization is a fundamental requirement for the mobile robot .Robot usually contains a large number of dif-ferent sensors ,which provide the information of robot localization ,and all the sensor information should be considered for the optimal location .Kalman filter is efficient to realize the information fusion .Used as an efficient sensor fusion algo-rithm ,Kalman filter is an advanced filtering technique which can reduce errors of the position and orientation of the sen -sors .Kalman filter has been paied much attention to robot automation and solutions to solve uncertainties such as robot lo -calization ,navigation ,following ,tracking ,motion control ,estimation and prediction .The paper briefly describes Kalman filter theory ,and establishes a simple mathematical model based on muti-sensor mobile robot .Meanwhile ,Kalman filter is used in robot self-localization by simulations ,and it is demonstrated by simulations that Kalman filter is effective .关键词
卡尔曼滤波器/移动机器人/自主定位/目标定向Key words
Kalman filter/mobile robot/self-localization/target orientation分类
信息技术与安全科学引用本文复制引用
黄梁松,郭小丽,李玉霞..卡尔曼滤波器在移动机器人自主定位中的应用[J].测试科学与仪器,2014,(2):52-54,3.基金项目
Research Fund for the Doctoral Program of Higher Education of China （）
