基于Kalman滤波器的车式移动机器人跟踪方法  

Car-type Mobile Robot Tracking Method Based on Kalman Filter

作　　者：张香竹[1] 余辉荣 汪俊彬 

机构地区：[1]华南理工大学自动化科学与工程学院控制与优化中心,广州510641

出　　处：《自动化与仪表》2014年第2期1-4,共4页Automation & Instrumentation

基　　金：国家自然科学基金资助项目(61273109)

摘　　要：为了跟踪和优化车式移动机器人的运动轨迹,对四轮车式机器人进行了建模,再通过线性化和离散化得到系统模型,并对该模型引入Kalman滤波器。搭建实验平台,详细验证Kalman滤波算法对多目标跟踪的优化和平滑作用。实验结果验证了多个Kalman滤波器对多目标进行实时轨迹和状态跟踪的有效性。In order to track and optimize the trajectory of mobile robot cars,the model of four wheels car-type robot was carried out after modeling,linearization and discretization,and Kalman filter was introduced then.Building experimental platform helps verify the optimization and smoothing effect of Kalman filter algorithm in multi-target tracking in detailed.Experimental results demonstrate the effectiveness of multiple Kalman filters tracking multi-target in real-time trajectories and states.

关 键 词：车式移动机器人 建模 KALMAN滤波器 多目标跟踪 轨迹优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]