Position estimation of mobile robots with internal and external sensors using uncertainty evolution technique
Position estimation of mobile robots with internal and external sensors using uncertainty evolution technique
复制标题
使用不确定性演化技术的具有内部和外部传感器的移动机器人的位置估计
DOI：
10.1109/robot.1990.126301
复制
发表时间：
1990
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
--
作者：
Yutaka Watanabe;S. Yuta
平面上的轮式移动的机器人可以从累积的车轮旋转（航位推算）来估计其当前位置和方向。然而，该方法的缺点是，随着机器人的移动，估计误差会累积，并且估计的精度会降低。为了解决这个问题，需要使用外部传感器的定位技术。作者提出了一种更一般的定位方法，使机器人可以自主行动，并沿沿着路径无限定位。机器人可以通过异步和间歇地重复低级别的传感来修改航位推算估计的位置。该方法不仅利用了估计的位置数据，而且有效地利用了航位推算和外部传感器的精度。<<ETX>>
A wheeled mobile robot on a flat plane can estimate its current location and orientation from the cumulative wheel rotation (dead reckoning). The method, however, has the drawback that estimation errors are accumulated as the robot moves, and the accuracy of estimation decreases. To address this problem, a positioning technique using an external sensor is needed. The authors propose a more general positioning method whereby the robot can act autonomously and move along a path unlimited by positioning. The robot can modify the position estimated by dead reckoning by repeating low-level sensing asynchronously and intermittently. This method uses not only the estimated position data but also the accuracy of the dead reckoning and the external sensor effectively.<<ETX>>