文献类型：会议论文

英文题名：An Adaptive Location Strategy of Underwater Autonomous 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, Sch Mech elect & Automobile Engn, Civil Engn & Architecture, 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：Location system; Mobile robot; Adaptive filter; Data processing

摘要：Location system is a key technique of autonomous robot. The location system of a underwater autonomous robot is studied in this paper The robot can move in mud according to the prearranged trajectory. It is used to dig the hole in the mud underwater to place the wire rope for elevating the sunken wreck. The location system of the autonomous robot is designed. Because relative location is applied in the location system, location error of location system is accumulated with the increase of move length. Based on the theoretical analysis of the adaptive algorithm, LMS adaptive algorithm is applied to process the data of location to reduce the error of location system. The simulation results show that LMS adaptive algorithm can reduce location errors of the underwater autonomous robot effectively.