Mobile Robot Positioning Method Based on Improved Cubature Kalman Filter

被引：0
|
作者：
Xu, Yaoxin [1 ]
Li, Sheng [1 ]
Yang, Chun [1 ]
Chen, Qingwei [1 ]
Wu, Jingyuan [1 ]
Kang, Xiao [2 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing, Peoples R China
[2] China North Vehicle Res Inst, Res & Dev Ctr China, Beijing, Peoples R China
来源：
2019 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC 2019), VOL 2 | 2019年
关键词：
mobile robot; odometer; position; inertial navigation; Cubature Kalman;
D O I：
10.1109/IHMSC.2019.10106
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In order to solve the problem of low positioning accuracy of two-wheel mobile robot, a positioning method of mobile robot based on improved Cubature Kalman filter is proposed. According to the system model of two-wheel mobile robot, a positioning method which mainly uses odometer assisted by strapdown inertial navigation is designed, and the traditional Cubature Kalman filter algorithm is modified to restrain divergence and improve positioning accuracy. The experiment results show that the positioning method based on improved Cubature Kalman filter is effective and the positioning accuracy has been greatly improved.
引用
收藏
页码：46 / 49
页数：4
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