移动机器人扩展卡尔曼滤波定位与传感器误差建模-信息与控制.PDF

41 4 Vol.41, No.4 2012 08 Information and Control Aug., 2012 DOI 10.3724/SP.J.1219.2012.00406 710025 EKF TP242 A 1002-0411(2012)-04-0406-07 EKF Localization and Sensor Error Modeling for Mobile Robots AN Lei ZHANG Guoliang ZHANG Weiping JING Bin (College of Science, The Second Artillery Engineering University, Xi’an 710025, China) Abstract: For the accumulated errors of the odometry in the process of localization, a general odometry error model for mobile robots is established to compensate the odometry errors via feedback in real time. According to the errors of original data from the laser radar, an observation error model for laser radar is established. The observation model for mobile robots is designed according to the environmental features and the relative position of mobile robots. Further, extended Kalman filter is used by combining the odometry and laser radar error model to realize the mobile robots’ localization based environmental feature tracking. The experimental results illustrate that the location accuracy of the robots is improved effectively with increasing a little locating time by introducing odometry and laser radar error model. Keywords: mobile robot localization; odometer; laser radar; error modeling; extended Kalman filter (EKF) 1 Introduction Agostino3