兵工自动化2018，Vol.37Issue(3)：18-20,3.DOI:10.7690/bgzdh.2018.03.005
基于粒子滤波的移动机器人跟踪定位算法
Mobile Robot Positioning Algorithm Based on Particle Filter
摘要
Abstract
According to the problem of real time tracking and positioning of the mobile robot in the nonlinear system, the tracking and localization algorithm for mobile robot based on particle filter was researched. The particle filter algorithm is introduced in the control system, and on this basis the degradation factor is introduced, and the simulation validation was carried out at last. The results showed that the failure and single sample problem in nonlinear system of particle filtering algorithm could be avoided by this algorithm, and the non-Gaussin noise in mobile robot tracking and positioning system could be ameliorated, so that the positioning accuracy of mobile robot could be improved obviously.关键词
机器人定位/修正因子/MM-KF/粒子滤波/退化因子Key words
positioning of mobile robot/modifying factor/MM-KF/particle filtering/degradation factor分类
信息技术与安全科学引用本文复制引用
朱清智,靳果..基于粒子滤波的移动机器人跟踪定位算法[J].兵工自动化,2018,37(3):18-20,3.基金项目
PLC的实验实训网络平台研究与设计(KJGG-35) （KJGG-35）
