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Aming at the current problem that Electronic whiteboard positioning has the poor accuracy, we propose an improved UKF positioning algorithm. Through adding time-varying fading factor to the standard UKF algorithm, such method can significantly reduce the influence of outmoded data on the current estimation value. Meanwhile, by adding adaptive adjustment factor to alter filtering gain to control the...
For mobile robot localization problem, this paper presents a localization method based on particle filter in the environment topology map. First, a environment topology map was built. The method is based on SOM (Self-organizing Map), by continuously adding new neurons to achieve the growth of network, in order to describe the environmental characteristics. Then, in the environment topology map, particle...
In order to overcome the shortcomings of the dynamic structure of the ducted-fan aircraft, the paper proposes a new design of the disk-typed autonomous aerial robot based on rotor aerodynamic, named Micro aerial robot(MAR). MAR adopts inner and outer double-rotor system and disk-type body structure, and has some unique dynamic characters. Using the Newton-Euler modeling method, a six degrees of freedom(6...
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