基于多传感器信息融合的斜面移动机器人定位新方法

LOCALIZATION BY FUSION FOR A MOBILE ROBOT RUNNING ON INCLINED PLANES

首先分析了本文的研究意义；然后针对在斜面上工作的轮式移动机器人，提出了通过卡尔曼滤波融合倾斜角传感器和码盘传感器信息的移动机器人定位新方法；最后进行了斜面定位试验．试验结果证实了本文定位方法的有效性．

Firstly, the research signification is analyzed. Secondly, a new localization method for mobile robots running on inclined planes, which based on fusion of odometric and inclinometric data by Kalman filter, is presented. Last, some experimental results of trajectory estimations in order to evaluate our localization method.