摘要
构建了基于GPS的移动机器人定位系统,利用多传感器数据自适应加权融合估计算法对GPS、方位传感器、光码盘的信息进行数据融合.通过实验证明,该系统在短距离、路面平整的条件下,具有较高的准确性和稳定性,能够满足移动机器人定位的需要.
The localization system for mobile robot based on GPS is proposed. GPS data, azimuth sensor data and optical encoder data are fused using the adaptive weighted fusion estimated algorithm of multi-sensor data. The experiment result indicates that the system can achieve better veracity and stability, under the precondition of the short distance and smooth surface. The proposed system can reach the requirement for the localization of mobile robot.
出处
《天津理工大学学报》
2006年第6期47-49,共3页
Journal of Tianjin University of Technology
基金
天津市自然科学基金(023615011)
