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基于激光雷达的移动机器人实时位姿估计方法研究 被引量:12
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作者 杨明 董斌 +2 位作者 王宏 张钹 Helder Araújo 《自动化学报》 EI CSCD 北大核心 2004年第5期679-687,共9页
位姿估计是移动机器人研究中的一个关键问题,对于运动目标跟踪、机器人导航、地图生成等具有重要意义.提出了一种基于二维激光雷达的实时位姿估计方法,包括基于Hough变换的切线角度直方图算法和迭代切线加权最近点算法两部分.两种算法... 位姿估计是移动机器人研究中的一个关键问题,对于运动目标跟踪、机器人导航、地图生成等具有重要意义.提出了一种基于二维激光雷达的实时位姿估计方法,包括基于Hough变换的切线角度直方图算法和迭代切线加权最近点算法两部分.两种算法的结合和切线信息的引入,有效地解决了传统方法无法解决的局部最小值、类孔径、大计算量等问题.仿真数据和室外环境实际数据的大量实验结果表明它具有精度高、速度快、适用性广和对噪声、遮挡和类孔径问题鲁棒性高的特点. 展开更多
关键词 位姿估计 角度直方图 迭代最近点 切线信息 移动机器人 激光雷达
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Switching Between Antenna Subset Selection and Quasi-Orthogonal Space-Time Block Code in Presence of Correlation
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作者 闫正航 杨宇航 +1 位作者 马懋德 陆亿泷 《Journal of Shanghai Jiaotong university(Science)》 EI 2009年第6期651-658,共8页
We address the problem of adaptive modulation and coding scheme(AMCS) for a multi-input multioutput(MIMO) system in presence of time-varying transmitting correlation.Antenna subset selection and quasiorthogonal space-... We address the problem of adaptive modulation and coding scheme(AMCS) for a multi-input multioutput(MIMO) system in presence of time-varying transmitting correlation.Antenna subset selection and quasiorthogonal space-time block code(QOSTBC) have different error performances with different signal-to-noise ratios(SNRs) and in different spatial correlation scenarios.The error performance can be improved by selecting an appropriate transmission scheme to adapt to various channel conditions.The maximum distance criterion is the simplest and very effective algorithm for the antenna subset selection without needs of complex calculation and channel state information at transmitter(CSIT).The minimum error performance criteria and the simplified linear decision strategy are developed for constant transmission rate traffic to select the optimal transmission scheme.It can dramatically decrease algorithm complexity for obtaining error probability according to the known quantities comparing with using instant CSIT.Simulation results show that,remarkable performances including low SNR and weak spatial correlation at the expense of simple calculation and almost no bandwidth loss by adopting AMCS can be achieved.The proposed AMCS improves robustness of slowly varying spatial correlated channels. 展开更多
关键词 multi-input multi-output (MIMO) adaptive modulation and coding quasi-orthogonal space-time block code (QOSTBC) correlated fading channels antenna subset selection
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