Design of augmented extended Kalman filter for real time simulation of mobile robots using Simulink^®

机译：使用Simulink ^{®的用于移动机器人实时仿真的增强扩展卡尔曼滤波器设计}

获取原文

页面导航

摘要
著录项
相似文献
相关主题

摘要

This paper presents a new design of augmented extended Kalman filter (AEKF) for real-time simulation of mobile robots. A Simulink^reg model is developed for simultaneous localization and odometry calibration of mobile robots in real time manner. Starting from the encoders readings, and assuming an absolute measurement available, the AEKF provides the local reconstruction of mobile robots position and orientation with an on-line odometry calibration. The simulation results verify the effectiveness of the proposed method and suggest it as a promising way for real time implementations of augmented Kalman filters.

机译：本文提出了一种用于移动机器人实时仿真的增强扩展卡尔曼滤波器（AEKF）的新设计。开发了Simulink ^{reg 模型，用于同时实时地对移动机器人进行定位和里程校准。从编码器读数开始，并假设可以进行绝对测量，AEKF可以通过在线里程计校准来对移动机器人的位置和方向进行本地重建。仿真结果验证了所提方法的有效性，并为增强卡尔曼滤波器的实时实现提供了一种有希望的方法。}

著录项

来源
《Mechatronics and its Applications, 2009. ISMA '09》|2009年|1-6|共6页
会议地点 Sharjah(AE);Sharjah(AE)
作者
Hassanzadeh I.; Fallah M.A.;
展开▼
作者单位

Control Eng. Dept., Univ. of Tabriz, Tabriz, Iran;

展开▼
会议组织
原文格式 PDF
正文语种
中图分类
关键词
Kalman filters; control engineering computing; mobile robots; nonlinear filters; real-time systems; Simulink; augmented extended Kalman filter design; encoders readings; localization; mobile robots orientation; mobile robots position; online odometry calibration; real time simulation; Encoder; Odometry calibration; augmented; extended Kalman filter; real-time;

机译：卡尔曼滤波器;控制工程计算;移动机器人;非线性滤波器;实时系统; Simulink;增强扩展卡尔曼滤波器设计;编码器读数;定位;移动机器人方向;移动机器人位置;在线里程校准;实时仿真;编码器;测程校准;增强;扩展卡尔曼滤波器;实时;

相似文献

外文文献
中文文献
专利

1. Design of Augmented Extended and Unscented Kalman Filters for Differential-Drive Mobile Robots [J] . Iraj Hassanzadeh, Mehdi Abedinpour Fallah Journal of Applied Sciences . 2008,第16期

机译：用于差分驱动移动机器人的增强扩展和Unscented Kalman滤波器的设计
2. Development of an Effective Docking System for Modular Mobile Self-Reconfigurable Robots Using Extended Kalman Filter and Particle Filter [J] . Huosheng Hu, Mohammad Biglarbegian, Peter Won, Robotics . 2015,第1期

机译：使用扩展卡尔曼滤波器和粒子滤波器的模块化移动自重构机器人有效对接系统的开发
3. Extended Kalman and Particle Filtering for sensor fusion in motion control of mobile robots [J] . Gerasimos G, Rigatos Mathematics and computers in simulation . 2010,第3期

机译：扩展卡尔曼和粒子滤波技术在移动机器人运动控制中实现传感器融合
4. DESIGN OF AUGMENTED EXTENDED KALMAN FILTER FOR REAL TIME SIMULATION OF MOBILE ROBOTS USING SIMULINK [C] . Iraj Hassanzadeh, Mehdi Abedinpour Fallah International Symposium on Mechatronics and its Applications . 2009

机译：使用Simulink的移动机器人实时模拟设计增强扩展卡尔曼滤波器的设计
5. Navigation in Wheeled Mobile Robots Using Kalman Filter Augmented with Parallel Cascade Identification to Model Azimuth Error. [D] . Rahman, Atif. 2013

机译：轮式移动机器人中的导航使用卡尔曼滤波器增强，并通过并行级联识别来模拟方位角误差。
6. A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots [O] . Ákos Odry, Istvan Kecskes, Peter Sarcevic, 2020

机译：新型模糊自适应扩展卡尔曼滤波在移动机器人实时姿态估计中的应用
7. AN EXTENDED AND UNSCENTED KALMAN FILTERS SIMULATION AND DESIGN FOR A MOBILE ROBOT [O] . Rashid Ali 2020

机译：一个扩展和无编号的卡尔曼过滤器仿真和设计用于移动机器人
8. Extending Decentralized Kalman Filtering Results for Novel Real-Time Multisensor Image Fusion and/or Restoration [R] . Thomas H. Kerr 1996

机译：扩展分散卡尔曼滤波结果，用于新型实时多传感器图像融合和/或恢复

Design of augmented extended Kalman filter for real time simulation of mobile robots using Simulink®

摘要

著录项

相似文献

相关主题

期刊订阅

Design of augmented extended Kalman filter for real time simulation of mobile robots using Simulink^®