%0 Journal Article
%T Localization of mobile robot based on fuzzy-adapted Kalman filtering<br>基于模糊自适应卡尔曼滤波的移动机器人定位方法*
%A XU Hai-wei
%A YIN Bo
%A XU Taob
%A <br>徐海伟
%A 殷波
%A 徐涛b
%J 计算机应用研究
%D 2009
%I 
%X In order to resolve the problem of mobile robot localization with unknown noise characteristics,this paper proposed a mobile robot localization method based on fuzzy-adapted extended Kalman filtering.Combined fuzzy logic and covariance-matching technique together to adjust the measurement noise covariance R and on-line improve the performance of the localization algorithm.Moreover,it used a sensor fault diagnostic and recovery algorithm to monitor the sensors' states and improved the algorithm's robustness....
%K mobile robot localization
%K extended Kalman filtering
%K fuzzy logic
%K covariance-matching<br>移动机器人定位
%K 扩展卡尔曼滤波
%K 模糊理论
%K 协方差匹配
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=7FD56570CA9B34A7089249C017016ED2&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=5D311CA918CA9A03&sid=94CBA1FA688E6C6E&eid=AAC92253BEFD5B31&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=1&reference_num=9