Robot and method and medium for localizing the same by using calculated covariance
US8315734B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 21, 2007 |
| Grant date | Nov 20, 2012 |
| Priority date | — |
| Expiry date | Aug 23, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/027
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Provided are a robot capable of improving the computation rate by considering whether a parameter will diverge and modifying the experiment order of offspring during evolutionary computation, when the covariance of system noise and that of measurement noise are calculated for the purpose of localizing the robot by using a Kalman filter, and a method and medium of localizing a robot by using a calculated covariance. The robot includes a gyroscope module providing information regarding rotational angle; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel by sensing motion of the wheel; and a control module estimating a current location according to a Kalman filter method based on information provided by the encoder module and the gyroscope module, a covariance of system noise and a covariance of measurement noise being calculated in an evolutionary computation and applied to the Kalman filter method by the control module, the covariance of system noise and the covariance of measurement noise satisfying a condition that no Kalman filter parameter diverges in the evolutionary computation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.