Research on location system of move-in-mud robot based on Kalman filter

摘要

Data fusion methods are widely used in autonomous robots' measurement system in order to acquire more comprehensive and more exact information. Move-in-mud Robot is a kind of autonomous robots, which is used to substitute for excavating hole underwater in wreck salvage by diver according to a planned trajectory. Location of the robot is one of keys in study on Move-in-mud Robot, which is the base of move according to planned trajectory. Based on the analysis of automotive robot orientation ways, location system is designed in the paper and location principle of move-in-mud robot is analyzed. Kalman filter is used to fuse redundant depth information of the robot. The fusion arithmetic is simulated and the result of simulation showed that the fusion not only improve location precision efficiently, but also improve reliability of location.