Research of Autonomous Navigation Path Planning Based on the Sage_Husa Adaptive Filter for Mobile Robot

Yun Liu; Dean Zhao; Jun Zhang; Yun Zhang

doi:10.4028/www.scientific.net/AMM.433-435.1567

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 433-435Research of Autonomous Navigation Path Planning...

Research of Autonomous Navigation Path Planning Based on the Sage_Husa Adaptive Filter for Mobile Robot

Abstract:

By applying data fusions from GPS and MEMS sensors to plan and track path, and achieve the goal of mobile robot autonomous navigation. An improved filtering method based on Sage_Husa filtering is described, which can effectively restrain the filtering divergence, improve dynamic performance of filter, enhance stability and adaptability of filter, and improve navigation precision. With fuzzy adaptive PID control, the stability of control system is guaranteed with control strategy adjustment in real time. Finally, it is programmed that converting the fusion of high-precision GPS and attitude information into control command so as to succeed in robot navigation and real-time display on map. The feasibility and effectiveness of methods described above are verified and proved by experiments and MATLAB simulation.

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Periodical:

Applied Mechanics and Materials (Volumes 433-435)

Pages:

1567-1571

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.433-435.1567

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Online since:

October 2013

Authors:

Yun Liu, Dean Zhao*, Jun Zhang, Yun Zhang

Keywords:

Fuzzy Adaptive PID, GPS, Mobile Robot, Navigation, Sage_Husa Adaptive Filtering

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* - Corresponding Author

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