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A ROBUST ADAPTIVE MODELING METHOD FOR ULTRASONIC RANGE FINDER
Author(s): 
Pages: 554-558
Year: Issue:  6
Journal: ROBOT

Keyword:  超声测距自适应滤波鲁棒自适应建模x2检验;
Abstract: 分析了超声测距的工作原理及特点,提出了一种新型的鲁棒自适应建模方法.首先,利用在线递进滤波技术,有效地剔除采集数据中可能存在的"野点"; 然后针对移动机器人中超声测距的不确定性特点,在自适应最小二乘估计(ALS)的基础上, 结合模糊理论,实现了鲁棒自适应最小二乘(RALS)建模. 最后,给出了一种基于x2检验的模型收敛性检验方法. 通过实验对比分析,验证了RALS具有很好的实用性和鲁棒性, 比较适合于移动机器人超声测距的建模.
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