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基于内部传感器的轮式移动机器人运动速度估计 被引量：3

Velocity estimation of wheeled mobile robot with inner-sensors
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摘要 讨论了在无速度传感器的情况下轮式移动机器人的速度估计问题,采用了加速度传感器和位置传感器的输出实时估计轮式移动机器人速度,并用一种按加速度扰动调整权值的方法融合来自不同传感器的数据。 This paper discussed the velocity estimation for a wheeled mobile robot without velocity sensors. Velocities of the mobile robot were estimated real-time using accelerometers and position-measurement sensors. A method for adjusting weights by the vehicle acceleration disturbance was proposed to fuse data from different sensors. The effectiveness of the method was demonstrated by experiments.
作者 宋亦旭 谈大龙
机构地区 中国科学院沈阳自动化研究所机器人学开放实验室
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2003年第4期537-540,546,共5页 Control Theory & Applications
关键词 轮式移动机器人 运动速度 估计 传感器 数据融合 智能机器人 mobile robot sensor data fusion estimation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献10

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控制理论与应用
2003年 第4期

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