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    • 48. 发明授权
    • Robot and method and medium for localizing the same by using calculated covariance
    • 机器人和方法以及通过使用计算协方差对其进行定位的介质
    • US08315734B2
    • 2012-11-20
    • US11688983
    • 2007-03-21
    • Hyeon MyeongYong-beom LeeSeok-won BangHyoung-ki LeeKi-wan ChoiEun-young Choe
    • Hyeon MyeongYong-beom LeeSeok-won BangHyoung-ki LeeKi-wan ChoiEun-young Choe
    • G06F19/00
    • G05D1/0272G05D1/027
    • Provided are a robot capable of improving the computation rate by considering whether a parameter will diverge and modifying the experiment order of offspring during evolutionary computation, when the covariance of system noise and that of measurement noise are calculated for the purpose of localizing the robot by using a Kalman filter, and a method and medium of localizing a robot by using a calculated covariance. The robot includes a gyroscope module providing information regarding rotational angle; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel by sensing motion of the wheel; and a control module estimating a current location according to a Kalman filter method based on information provided by the encoder module and the gyroscope module, a covariance of system noise and a covariance of measurement noise being calculated in an evolutionary computation and applied to the Kalman filter method by the control module, the covariance of system noise and the covariance of measurement noise satisfying a condition that no Kalman filter parameter diverges in the evolutionary computation.
    • 提供了一种能够通过考虑在进化计算期间参数是否会发散和修改后代的实验次序来提高计算速率的机器人,当系统噪声和测量噪声的协方差被计算用于通过使用 卡尔曼滤波器,以及通过使用计算的协方差来定位机器人的方法和介质。 机器人包括提供关于旋转角度的信息的陀螺仪模块; 编码器模块,通过感测车轮的运动来提供关于车轮旋转角度的速度和信息的信息; 以及基于卡尔曼滤波方法的编码器模块和陀螺仪模块提供的信息来估计当前位置的控制模块,系统噪声的协方差和在进化计算中计算的应用于卡尔曼滤波器的测量噪声的协方差 控制模块的方法,系统噪声的协方差和测量噪声的协方差满足在进化计算中没有卡尔曼滤波参数分歧的条件。