A Method for Position Estimation of Mobile Robot Based on Data Fusion

被引：1

作者：

Yan, Wenjian ^{[1
]}

Wang, Ke ^{[1
]}

Li, Ruifeng ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年

关键词：

Position estimation; Triangulation; Error analysis; Data fusion; TRIANGULATION;

D O I：

10.1109/ccdc.2019.8832726

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Triangulation is a commonly used method for position estimation of mobile robots. In this work, we describe the triangulation algorithms in detail and analyze the error by establishing a Gaussian error model. We perform multiple triangulation algorithms using angular information of landmarks in one scan. A different approach is proposed to fuse the estimated values which is acquired from multiple triangulation algorithms. The proposed algorithm effectively improves the accuracy of position estimation based on triangulation and reduces the uncertainty of position.

引用

页码：5568 / 5572

页数：5

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