Chapter 40 Target Localization and Tracking of Unmanned Mining Equipment Based on Multi-sensor Information Fusion Technology

摘要

The accurate localization is very important for mobile devices to make right decisions about autonomous path planning, avoiding obstacles and finishing other complex tasks. This paper presents a research on the localization and tracking technology of autonomous underground mining equipment. Two types of Kalman filters are considered as information fusion method: multi-sensor multi-model adaptive Kalman filtering and weighted adaptive multiple model Kalman filtering.