文献类型：会议论文

英文题名：Study on Measurement System of Underwater Autonomous Robot

作者：Yang, Qingmei[1];Sun, Jianmin[2];Liu, Yanxia[1]

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, Sch Mech Elect & 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 Conference on Robotics, Automation and Mechatronics

会议日期：SEP 21-24, 2008

会议地点：Chengdu, PEOPLES R CHINA

语种：英文

外文关键词：Kalman filter; muti-sensor fusion; measure system; robot

摘要：Measure system is important part for an autonomous mobile robot. Move-in-mud robot is a new kind of autonomous underwater robot, which is used to dig hole in the mud. Measure system of move-in-mud robot is designed in the paper and measure principle of move-in-mud robot is analysed. Data fusion methods combine multi-sensor information to obtain the uniform description or the understanding to the measured object according to a certain criterion. Kalman filter is chosen as the data fusion method of the measure system to improve the accuracy of measure system. The depth error with fusion is smaller than the direct measure and indirect measure. The simulation results indicate that fusion improves the accuracy of the robot depth obviously.