.png){kind=icon}
返回
Discrete-Time H∞ Filtering for Mobile Robot Localization Using Wireless Sensor Network
.png){kind=icon}
PRE
AI
DOI：10.1109/JSEN.2012.2213337.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper proposes a localization technique for mobile robots using a wireless sensor network (WSN), based on chirp spread spectrum ranging and an inertial measurement unit (IMU). A discrete-time H-infinity filter with input forcing function is newly derived for mobile robot localization. The position of the robot is estimated by the filter using an integration of position information collected by the WSN and absolute acceleration data obtained by the IMU. From the dynamics of the robot, the solution existence of the proposed filter is shown, and a low-complexity computational method to obtain a solution from the filter is proposed by a generalized eigenvector approach. Through simulation and experiments, we evaluate the performance of the proposed H-infinity filter and compare it with the standard Kalman filter.
Keyword:
Chirp spread spectrum (CSS)
H-infinity filter
inertial measurement unit (IMU)
mobile robot localization/navigation
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
4.5
论文数:
2.2W
被引数:
7.3W
机构
暂无机构信息
引用论文
分享收藏A Circuit Design for Ranging Measurement Using Chirp Spread Spectrum Waveform.png)
IEEE SENSORS JOURNAL
IEEE SENSORS JOURNALIF4.5
PREAI
分享收藏分享收藏Metal–organic frameworks as heterogeneous photocatalysts: advantages and challengesCrystEngComm
OAAI
CrystEngCommIF0
OAAI分享收藏
查看更多内容