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定位系统是保证准确避障和导航的必要条件,只有准确稳定的定位才能够准确避障和导航,所以定位系统在室外移动机器人中是不可缺少的组成部分。本文介绍室外移动机器人TYIRV-I的组合定位系统,即GPS、磁罗盘和光码盘组合定位,其中,GPS虽然能够提供较精确的位置信息,但是会由于遮挡等原因导致数据无效。磁罗盘和光码盘通过航位推算得到位置信息,短距离定位效果较好,但存在严重的累计误差。对以上两种定位方法进行信息融合形成GPS、磁罗盘和光码盘组合定位,取长补短,取得较好的效果。实践证明,该定位系统具有较高的准确性和稳定性,能够满足移动机器人的定位和导航需要。 相似文献
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移动机器人THMR-V的组合定位系统 总被引:4,自引:0,他引:4
定位系统是室外移动机器人中不可缺少的组成部分,是车辆定位与导航的基础。文章介绍了清华移动机器人THMR-V的定位系统,它是由GPS、磁罗盘、光码盘组成的。GPS能够提供比较精确的绝对位置,但是采集数据较慢,而且可能由于遮挡等原因而失效或跳变。磁罗盘-光码盘系统(CEPS)通过航位推算计算车体位置,在短期内定位效果较好,但是存在积累误差。通过GPS/CEPS组合定位,取长补短,从而整体上达到良好的性能。在THMR-V上经过一年多试验证明,该系统具有较高的准确性和稳定性,满足移动机器人的定位与导航的需要。 相似文献
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针对角速率陀螺误差随时间积累和电子磁罗盘易受外界干扰的问题,为提高低成本自主导航精度,设计了角速率陀螺和电子磁罗盘信息融合的组合方案。并对传统的补偿滤波方法进行改进,提出一种能够检测出电子磁罗盘的低频干扰,并对干扰误差进行剔除的抗差补偿滤波算法。通过对角速率陀螺和电子磁罗盘进行误差建模和仿真实验可知,抗差补偿滤波器可以有效地抑制磁罗盘高频干扰误差和角速率陀螺的积累误差,同时,也可很好地抑制磁罗盘的低频干扰误差。结果表明:研究的抗差补偿滤波算法效果明显,是一种简单可靠的航向融合方法。 相似文献
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基于椭圆假设的磁罗盘航向测量算法研究 总被引:1,自引:0,他引:1
磁罗盘常用于自主式水下航行器(Autonomous Underwater Vehicle,AUV)导航系统中对惯性器件的姿态测量进行校正。为了补偿载体内干扰磁场对磁罗盘航向解算带来的误差,采用基于椭圆假设的误差模型,通过最小一:乘拟合椭圆,扶得磁罗盘误差补偿算法中椭圆模型的各分布参数。陆上仿真实验的结果表明,基于椭圆假设的实时补偿算法能够获得稳定、高精度的航向角测量,不同路径类型下的误差精度可提高60%至80%。补偿结果为水下导航系统算法设计提供了精度依据。 相似文献
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针对磁罗盘传感器非线性校正中现有方法的不足,提出采用小波函数和双曲正弦函数作为超限学习机(ELM)的激活函数,并将此改进超限学习机用于磁罗盘的校正.同时,阐述了传感器的非线性校正原理,磁罗盘航向误差模型及改进超限学习机的实现过程,并分别采用BP神经网络法和传统ELM对磁罗盘进行非线性校正.实验结果表明,改进ELM算法补偿后最大误差为0.103°,均方根误差为0.0596°,优于BP神经网络算法(补偿后最大误差为0.5°,均方根误差为0.1805°)和传统ELM神经网络(补偿后最大误差为0.21°,均方根误差为0.1056°). 相似文献
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Chen-Chia Chuang Shun-Feng Su Song-Shyong Chen 《Fuzzy Systems, IEEE Transactions on》2001,9(6):810-821
The Takagi-Sugeno-Kang (TSK) type of fuzzy models has attracted a great attention of the fuzzy modeling community due to their good performance in various applications. Most approaches for modeling TSK fuzzy rules define their fuzzy subspaces based on the idea of training data being close enough instead of having similar functions. Besides, training data sets algorithms often contain outliers, which seriously affect least-square error minimization clustering and learning algorithms. A robust TSK fuzzy modeling approach is presented. In the approach, a clustering algorithm termed as robust fuzzy regression agglomeration (RFRA) is proposed to define fuzzy subspaces in a fuzzy regression manner with robust capability against outliers. To obtain a more precision model, a robust fine-tuning algorithm is then employed. Various examples are used to verify the effectiveness of the proposed approach. From the simulation results, the proposed robust TSK fuzzy modeling indeed showed superior performance over other approaches 相似文献
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Daniel Cavalcanti Jeronymo Yuri Cássio Campbell Borges Leandro dos Santos Coelho 《Expert systems with applications》2011,38(11):13688-13693
Recently, the development of industrial processes brought on the outbreak of technologically complex systems. This development generated the necessity of research relative to the mathematical techniques that have the capacity to deal with project complexities and validation. Fuzzy models have been receiving particular attention in the area of nonlinear systems identification and analysis due to it is capacity to approximate nonlinear behavior and deal with uncertainty. A fuzzy rule-based model suitable for the approximation of many systems and functions is the Takagi–Sugeno (TS) fuzzy model. TS fuzzy models are nonlinear systems described by a set of if then rules which gives local linear representations of an underlying system. Such models can approximate a wide class of nonlinear systems. In this paper a performance analysis of a system based on TS fuzzy inference system for the calibration of electronic compass devices is considered. The contribution of the evaluated TS fuzzy inference system is to reduce the error obtained in data acquisition from a digital electronic compass. For the reliable operation of the TS fuzzy inference system, adequate error measurements must be taken. The error noise must be filtered before the application of the TS fuzzy inference system. The proposed method demonstrated an effectiveness of 57% at reducing the total error based on considered tests. 相似文献
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THMR-V视觉临场感遥控系统的设计与实现 总被引:5,自引:0,他引:5
THMR-V室外移动机器人视觉临场感遥控系统是清华大学智能技术与系统国家重点实验室研制的实验平台。文章介绍了其总体结构与组成,并详细介绍了基地部分软硬件的设计与实现。 相似文献
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移动机器人THMR-V遥控系统的设计与实现 总被引:4,自引:0,他引:4
介绍了基于视觉的移动机器人THMR-V遥控系统的设计及实施。重点介绍了指挥站测控与监控系统、方向盘力反馈技术、无缝隙切换技术,以及数据与图象无线通信系统。 相似文献
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尺规作图是现行初中几何课程中一段实践性较强的内容,文 中探讨了尺规作图在计算机上的实现。以尺规作图中具有代表性的一个模块——“作一个角 等于已知角”为例,介绍尺规作图课件的设计和实现,充分利用了动画技术实现尺、规移动 ,两点连线,点、线或弧闪烁,再现了圆规画弧这一制作的关键。 相似文献
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