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首页> 外文会议>International Conference on Manufacturing Science and Technology >A Method for Modeling and Simulation of Differential Drive Mobile Robot Localization Based on EKF Multisensor Fusion
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A Method for Modeling and Simulation of Differential Drive Mobile Robot Localization Based on EKF Multisensor Fusion

机译：基于EKF多传感器融合的差分驱动移动机器人定位建模与仿真方法

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摘要

A method was proposed based on principle of EKF (extended Kalman Filter) state estimation to improve the localization precision of differential drive mobile robot. The robot position was estimated by Multisensor fusion of Odometer and laser, which kinematics model, the robot sensor perception model and the sensor error model were presented. The models were introduced into the state estimation and covariance matrix update equation of EKF with match convergence condition and nonlinear error correction covariance matrix. The specific iteration equation was acquired. The simulation results demonstrate the approach of modeling and fusion is accurate and validity.
机译：基于EKF（扩展Kalman滤波器）状态估计的原理提出了一种方法，以提高差分驱动移动机器人的定位精度。 通过多传感器和激光融合来估计机器人位置，其中给出了动态模型，机器人传感器感知模型和传感器误差模型。 匹配收敛条件和非线性误差校正协方差矩阵的EKF的状态估计和协方差矩阵更新方程被引入了模型。 获得了特定的迭代方程。 仿真结果表明了建模和融合的方法是准确的，有效性。

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