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An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot
文献类型：期刊论文
| 作者 | Song Q(宋崎); Han JD(韩建达)
|
| 刊名 | 自动化学报
 |
| 出版日期 | 2008 |
| 卷号 | 34期号:1页码:72-79 |
| 关键词 | Adaptive Unscented Kalman filter (UKF) innovation MIT rule process covariance |
| ISSN号 | 1874-1029 |
| 产权排序 | 1 |
| 中文摘要 | For improving the estimation accuracy and the convergence speed of the unscented Kalman filter (UKF), a novel adaptive filter method is proposed. The error between the covariance matrices of innovation measurements and their corresponding estimations/predictions is utilized as the cost function. On the basis of the MIT rule, an adaptive algorithm is designed to update the covariance of the process uncertainties online by minimizing the cost function. The updated covariance is fed back into the normal UKF. Such an adaptive mechanism is intended to compensate the lack of a priori knowledge of the process uncertainty distribution and to improve the performance of UKF for the active state and parameter estimations. The asymptotic properties of this adaptive UKF are discussed. Simulations are conducted using an omni-directional mobile robot, and the results are compared with those obtained by normal UKF to demonstrate its effectiveness and advantage over the previous methods. |
| 收录类别 | EI ; CSCD |
| 资助信息 | Supported by National High Technology Research and Development Program of China(863 Program);; Hi-Tech Research and Development Program of China(2003AA421020) |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7304]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Song Q,Han JD. An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot[J]. 自动化学报,2008,34(1):72-79. |
| APA | Song Q,&Han JD.(2008).An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot.自动化学报,34(1),72-79. |
| MLA | Song Q,et al."An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot".自动化学报 34.1(2008):72-79. |
入库方式： OAI收割
来源：沈阳自动化研究所
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