An Adaptive UKF Algorithm and Its Application in Mobile Robot Control

机译：UKF自适应算法及其在移动机器人控制中的应用

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In order to improve the performance of the 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. Based on the

机译：为了提高UKF的性能，提出了一种新颖的自适应滤波方法。创新度量的协方差矩阵与其对应的估计/预测之间的误差被用作成本函数。基于

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来源
《Robotics and Biomimetics, 2006 IEEE International Conference on; Kunming,China》||P.1117-1122|共6页
会议地点 KunmingChina
作者
Qi Song; Juntong Qi; Jianda Han;
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原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Kalman filters; adaptive filters; covariance matrices; mobile robots; adaptive filter method; adaptive mechanism; covariance matrices; extended Kalman filter; mobile robot control; unscented Kalman filter; Adaptive UKF; Innovation; MIT; Process Covariance;

机译：卡尔曼滤波器;自适应滤波器;协方差矩阵;移动机器人;自适应滤波器方法;自适应机制;协方差矩阵;扩展卡尔曼滤波器;移动机器人控制;无味卡尔曼滤波器;自适应UKF;创新; MIT;过程协方差;

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8. Distributed Algorithms for Controlling Multiple Mobile Robots [R] . Sugihara, K., Suzuki, I. 1994

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An Adaptive UKF Algorithm and Its Application in Mobile Robot Control

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