摘要
以两轮独立驱动的三轮机器人作为试验平台,用编码器和陀螺仪作为机器人的定位系统,建立机器人的运动学方程。采用卡尔曼滤波器对两种传感器的数据进行融合,再经加权最小二乘支持向量回归机算法对融合后的数据作回归运算,构造先验回归决策函数。运用回归决策函数提高陀螺仪输出角速率的准确度,获得机器人的位姿信息。
By the testing platform base on two-wheel differential drive of three-wheel robot, the robot positioning system was composed of encoder and gyroscope, then the robot kinematic equation was established. The two sensor＇s data were fused using Kalman filter, and the data was regressed by the weighted least squares support vector regression for construction of prior regression decision function. ＇ By using the prior regression decision function to improve accuracy of the angular rate of gyroscope, the information of location and pose of the robot were acquired.
出处
《机床与液压》
北大核心
2011年第21期57-59,共3页
Machine Tool & Hydraulics
基金
西南科技大学研究生创新基金资助项目(11ycjj34)西南科技大学重点基金资助项目(07SX2107)
四川省教育厅科研基金资助项目(07ZA175)
