摘要
以自主研发的两轮差动驱动轮式机器人为试验平台,以码盘、陀螺仪和数字罗盘作为机器人的定位系统,建立了两轮差动机器人的运动学方程,采用卡尔曼滤波器对3种传感器的数据进行融合,获得机器人的位置和姿态信息。
Based on the two - different - rear - wheel drived robot, coder, gyro and compass consist of it＇s locating system. The robot＇s kinematic equation was established and the three sensor＇s data were fused using Kalman filter. Then the location and pose of the robot were required.
出处
《机械与电子》
2009年第7期72-74,共3页
Machinery & Electronics
关键词
轮式机器人
卡尔曼滤波器
位姿
wheeled robotl kalman filter
location and pose
