Algorithm Research & Explore
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3303-3308

Research on mobile robot localization based on improved UKF algorithm

Yang Jia1,2
Peng Ruizhao1
Ji Zeyu1
Wang Jiahao1
1. College of Electrical & Electronic Engineering, Chongqing University of Technology, Chongqing 400054, China
2. Chongqing Energy Internet Engineering Technology Research Center, Chongqing 400054, China

Abstract

This paper proposed an improved unscented Kalman filter(UKF) mobile robot localization algorithm based on Sage-Husa filter to solve the problem of low localization accuracy caused by unknown or inaccurate noise statistical characteristics in multi-sensor fusion localization process. Firstly, it established the mobile robot localization model. Then, according to the time-varying characteristics of noise statistics, this paper adaptively estimated the state noise and measurement noise to reduce the error of position calculation caused by perturbation noise. The paper also introduced the convergence factor in the state update to accelerate the convergence speed of the algorithm. Finally, it applied the UKF and the improved UKF algorithm to the laboratory mobile robot for simulation experiments. The experimental results show that the proposed algorithm has strong resistance to state disturbance, and has remarkable effect on improving the accuracy and stability of robot positioning.

Foundation Support

国家自然科学基金资助项目(52177129)
重庆市教委科学技术研究重点项目(KJZD-K201901102)
重庆市技术创新与应用发展专项面上项目(cstc2020jscx-msxmX0210)
重庆理工大学研究创新项目(gzlcx20223071)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.04.0173
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 11
Section: Algorithm Research & Explore
Pages: 3303-3308
Serial Number: 1001-3695(2022)11-016-3303-06

Publish History

[2022-06-17] Accepted Paper
[2022-11-05] Printed Article

Cite This Article

杨佳, 彭瑞召, 季泽宇, 等. 基于改进UKF算法的移动机器人定位方法研究 [J]. 计算机应用研究, 2022, 39 (11): 3303-3308. (Yang Jia, Peng Ruizhao, Ji Zeyu, et al. Research on mobile robot localization based on improved UKF algorithm [J]. Application Research of Computers, 2022, 39 (11): 3303-3308. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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