موقعیت یابی ربات سیار با استفاده از فیلتر کالمن دو بخشی هموار
الموضوعات : مهندسی برق و کامپیوتررمضان هاونگی 1 , سیمین حسین زاده 2
1 - دانشکده مهندسی برق و کامپیوتر، دانشگاه بیرجند
2 - دانشکده مهندسی برق و کامپیوتر، دانشگاه بیرجند
الکلمات المفتاحية: ربات سیار, فیلتر کالمن, فیلتر کالمن دوبخشی, موقعیتیابی ربات,
ملخص المقالة :
مهمترین مسئله برای یک ربات متحرک، جهتیابی است. موفقیت در موقعیتیابی یکی از چهار نیاز اصلی در جهتیابی است که شامل ادراک، موقعیتیابی، شناخت و کنترل حرکت میباشد. چگونگی ارائه یک راه حل دقیق موقعیتیابی برای رباتهای سیار در بسیاری از کاربردهای اینترنت اشیا ضروری است. برای رسیدن به این هدف در این مقاله روشی مبتنی بر فیلتر کالمن دوبخشی برای موقعیتیابی رباتهای سیار پیشنهاد شده است. الگوریتم پیشنهادی شامل دو بخش است که بخش اول رگرسیون خطی آماری و بخش دوم یک فیلتر کالمن با بردار خطای حالت میباشد. روش پیشنهادی در مقایسه با روش جدید ترکیبی TLNF/UK در مسیرهای حرکت دایرهای، مستطیلی و Zشکل که همراه با نویز است، آزمایش شده است. نتایج تجربی نشان میدهند که روش پیشنهادی قادر به دستیابی به دقت موقعیتیابی بهتری بوده و همچنین مشاهده میشود که خطاهای تخمین در روش پیشنهادی کمتر است و توانسته دقت تخمین را نسبت به روش ترکیبی TLNF/UK افزایش دهد.
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