Research on Estimating the Smoothed Value and the Differential Value of the Sensor Inputs by Using Sliding Mode System. Application to Ultrasonic Wave Senser.
Research on Estimating the Smoothed Value and the Differential Value of the Sensor Inputs by Using Sliding Mode System. Application to Ultrasonic Wave Senser.
复制标题
利用滑模系统估计传感器输入的平滑值和微分值的研究。
DOI：
10.1299/kikaic.66.3947
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
T. Tsuchiya
中科院分区：
文献类型：
--
作者：
T. Emaru;T. Tsuchiya
为了识别环境，机器人应该有尽可能多的传感器。当我们使用传感器时，我们必须考虑传感器的特性，如范围，处理时间，误差等，在本文中，我们拿起超声波传感器，这是今天最常见的技术应用于室内移动的机器人系统，我们提出了一种新的技术来估计的平滑值和微分值的距离由超声波传感器。在提出本系统时，我们考虑到了上述限制。尽管提出了许多方法，但很难完全消除声纳的噪声。因此，我们通过假设声纳获得的信号的连续性来平滑距离值，并利用这种连续性，我们组成了一个估计器。该估计器是基于滑模系统的，可以实现鲁棒估计。
To recognize an environment, the robot should have as many sensors as possible. When we use sensors, we must consider the characteristics of the sensors, such as range, processing time, error, and so on. In this paper, we pick up ultrasonic wave sensor that is today the most common technique employed on indoor mobile robotic systems, and we propose a new technique to estimate the smoothed value and the differential value of the distance measured by a ultrasonic wave sensor. When we propose this system, we take these restrictions above mentioned into consideration In spite of many methods are proposed, it is very difficult to eliminate the noise of sonar perfectly. Therefore, we smooth the distance value by supposing the continuity of the signal which is obtained by the sonar, and take advantage of this continuity, we compose an estimator. The estimator is based on the sliding mode system, we can realize the robust estimator.