基于模糊PID卡尔曼滤波的多传感信息融合移动机器人定位研究  

Research on Localization of Mobile Robot Based on Multi- sensor Information Fusion of FUZZY PID Adaptive Kalman Filter

作　　者：徐爱亲[1] 

机构地区：[1]丽水职业技术学院机电信息分院,浙江丽水323000

出　　处：《重庆科技学院学报（自然科学版）》2014年第4期150-153,共4页Journal of Chongqing University of Science and Technology：Natural Sciences Edition

基　　金：浙江省丽水市公益性技术项目(2012JYZB46)

摘　　要：当工业移动机器人处于复杂工作环境中,其信息序列误差随各量测噪声特性的变化而增大,若使用卡尔曼滤波器进行多传感信息融合则很难做到实时测量和调整,融合后的误差也随之倍增。为解决此问题,在卡尔曼滤波融合前引入增量式模糊自适应PID控制,通过模糊规则设计,改善滤波噪声方差,对融合信息进行限制,并对限制后的速度信号和加速度信号进行融合,从而提高控制精度。MATLAB系统仿真显示,所设计的控制器对多传感器的信息融合效果良好。With sensors, computers and artificial intelligence technology cnutinues to evulve, mobile robots has beenwidely used in indushy. When the measurement noise characteristics change, the Kahnan filter fnr multisensorinformation ft, sion is diffict, h Io achieve real - time measurement and adjustment. To solve this problem we try to in-trnduce incremental Fuzzy PID control. Through the fuzzy rules designed to improve fihering noise variance, andthen it can limit speed signal and the acceleration signal fusion, improve control accuracy. Analysis of simulationexperiment of Fuzzy PID and Incremental Fuzzy PII） control. The result show that the validity of the method isgood.

关 键 词：多传感器 信息融合 模糊PID控制 卡尔曼滤波 移动机器人 

分 类 号：TP387[自动化与计算机技术—计算机系统结构]