[1]HUO Cheng-li,XIE Fan,QIN Shi-yin.A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(4):295-302.
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A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
4
Number of periods:
2009 4
Page number:
295-302
Column:
学术论文—智能系统
Public date:
2009-08-25
- Title:
- A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots
- Keywords:
- indoor autonomous cruise; UKF; realtime navigation; mobile robots
- CLC:
- TP242.6
- DOI:
- -
- Abstract:
- A new realtime navigation strategy was proposed that reflects the requirements and constraints for indoor autonomous travel of wheeled mobile robots. The unscented Kalman filter (UKF) algorithm was employed to carry out online filtering of mobile robot positional data collected from ceiling cameras and the odometer. This allows realtime navigation and positioning for control of indoor autonomous travel. A series of experiments demonstrated that this navigational strategy and implementation algorithm can meet realtime high precision requirements. These results make our strategy a good reference for further research that will lead to practical applications.
- References:
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Last Update:
2009-11-16