A Study on Real Time Circular Motion in Robots Using Kalman Filters

被引：0
|
作者：
Lee, Malrey [1 ]
Kim, Suntae [2 ]
Cho, Younghwa [3 ]
机构：
[1] Chonbuk Natl Univ, Dept Comp Sci & Engn, 567 Baekje Daero, Jeonju Si 561756, Jellabuk Do, South Korea
[2] Chonbuk Natl Univ, Dept Software Engn, 567 Baekje Daero, Jeonju Si 561756, Jellabuk Do, South Korea
[3] Sungkyunkwan Univ, Coll Informat & Commun Engn, 2066 Seobu Ro, Suwon, Gyeonggi Do, South Korea
来源：
ADVANCED MULTIMEDIA AND UBIQUITOUS ENGINEERING: FUTURE INFORMATION TECHNOLOGY, VOL 2 | 2016年 / 354卷
关键词：
Kalman filters; Circular motions; Process noise; Measurement noise;
D O I：
10.1007/978-3-662-47895-0_24
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents a more detailed design method of Q and R when the mobile robots move in circular motions: It through measuring and comparing the displacement difference of broken-line motions and circular motions within a relatively short time interval t to determine the value of Q at the same time using the mean of measurement error as the value of R. The results show that this way of design can effectively reduce the error of the trajectory.
引用
收藏
页码：193 / 201
页数：9
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