文献类型：会议论文

英文题名：Study on adaptive data processing of autonomous robot

作者：Yang, Qingmei[1];Sun, Jiamnin[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 Inst Civil Engn & Architecture, 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：2nd IEEE Conference on Industrial Electronics and Applications (ICIEA 2007)

会议日期：MAY 23-25, 2007

会议地点：Harbin, PEOPLES R CHINA

语种：英文

外文关键词：Adaptive algorithms - Data processing - Error analysis - Tracking (position)

摘要：A autonomous robot called Move-in-mud robot is used to excavate the hole in the mud underwater to put the wire rope for uplifting the sunken ship in wreck salvage. Owing to the abominable environment in the mud underwater, the location system is important for move-in-mud robot to move in mud according to the prearranged trajectory-Working principle of move-in-mud robot is analyzed and the location system of move-in-mud robot is designed. With relative location, location errors are accumulated with the increase of move length, so the total errors are increased. LMS adaptive algorithm is widely applied to process data. To improve the accuracy of location system, LMS adaptive algorithm is applied to process the data of location. Based on the theoretical analysis of the adaptive algorithm, LMS adaptive algorithm of location system is applied and simulated with Matlab. The simulation results show that LMS adaptive algorithm can improve the accuracy of location system.