Research of self-localization method of mine rescue robot

CAI Lihua; FANG Haifeng; LI Yunwang; WU Qunbiao; TIAN Feng

doi:10.13272/j.issn.1671-251x.2015.07.015

Volume 41 Issue 7

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Article Navigation > Journal of Mine Automation > 2015 > 41(7): 62-67

CAI Lihua, FANG Haifeng, LI Yunwang, et al. Research of self-localization method of mine rescue robot[J]. Industry and Mine Automation, 2015, 41(7): 62-67. doi: 10.13272/j.issn.1671-251x.2015.07.015

Citation:

CAI Lihua, FANG Haifeng, LI Yunwang, et al. Research of self-localization method of mine rescue robot[J]. Industry and Mine Automation, 2015, 41(7): 62-67. doi: 10.13272/j.issn.1671-251x.2015.07.015

CAI Lihua, FANG Haifeng, LI Yunwang, et al. Research of self-localization method of mine rescue robot[J]. Industry and Mine Automation, 2015, 41(7): 62-67. doi: 10.13272/j.issn.1671-251x.2015.07.015

Citation:

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Research of self-localization method of mine rescue robot

doi: 10.13272/j.issn.1671-251x.2015.07.015

1.
Suzhou Institute of Technology, Jiangsu University of Science and Technology, Zhangjiagang 215600, China
2.
School of Mechanical and Electrical Engineering, China University of Mining and Technology

Publish Date: 2015-07-10

Abstract

Abstract

Components of self-localization system of mine rescue robots was introduced, self-localization method based on dead reckoning was introduced and improved. The improved method uses limited memory Kalman filter with exponential fading factor, and fuses data of multiple sensors in a stepwise manner. The Matlab simulation results show that the improved method can stably achieve tracking accuracy of 0.5 m. Experiments on mine rescue robot entity were carried out to justify the validity of the proposed self-localization method of mine rescue robot.
- mine rescue robot,
- self-localization,
- dead reckoning,
- multiple sensors,
- information fusio