文献类型：会议论文

英文题名：Study on Measurement and Location System of Underwater Robot

作者：Yang, Qingmei[1];Sun, Jianmin[2]

第一作者：杨清梅

通讯作者：Yang, QM[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[2]Beijing Univ Civil Engn & Archiecture, Sch Mech Electron & Automobile Engn, Beijing 100044, Peoples R China

第一机构：北京联合大学城市轨道交通与物流学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China.|[1141751]北京联合大学城市轨道交通与物流学院;[11417]北京联合大学;

会议论文集：IEEE International Conference on Industrial Technology

会议日期：APR 21-24, 2008

会议地点：Chengdu, PEOPLES R CHINA

语种：英文

外文关键词：Data Fusion; Autonomous Robot; Location Method

摘要：The accurate location is a basic demand for autonomous robot. The location methods of mobile robot can be divided into 2 sorts, namely, absolute location and relative location. Data fusion methods are widely used in autonomous robots' measurement system in order to acquire more comprehensive and more exact information. Locaton information from several sensors of different location method can be fused with data fusion methods to improve location accuracy. Move-in-mud robot is a kind of autonomous robot, which can dig hole in the mud underwater The robot can be used in sunken wreck salvage to improve the efficiency of digging holes. Location system of the robot is studied in the paper. Location system of move-in-mud robot is designed. Kalman filter is applied to fuse the location data from different location methods. The data fusion method is simulated with Matlab, and the simulation results show the data fusion method can improve location accuracy.