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2D scalar field estimation based on spatial correlation of Hessian matrix elements
Zhao WT(赵文涛); Yu JC(俞建成); Zhang AQ(张艾群)
作者部门水下机器人研究室
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码92-96
收录类别EI ; CPCI(ISTP)
EI收录号20164302940143
WOS记录号WOS:000389835200018
产权排序1
ISSN号2379-7711
ISBN号978-1-5090-2732-3
关键词2d Scalar Field Estimate Correlation Hessian Matrix Elements Kalman Filter Data Fusion
摘要Swarm robots are employed to measure scalar field on many missions. Estimating the scalar value of points near the swarm robots are necessary, when robots are deployed to explore a 2D(Two-Dimensional) scalar field or track some extreme points in it. But it would not to be effortless to get accurate value, since the sampled data are always contaminated by noise. In this paper a discrete state transition model of 2D scalar field is addressed, and this model can be implemented with the Kalman Filter for data fusion on a 2D scalar field exploration mission. The differential equation of the state vector in 2D scalar field is different from the common state transition model utilized by researchers, because the differential variable of it is not only one, however there are two different differential variables, i.e., x and y. This is also the reason why the common state transition model could not be implemented under this context. In this study, the state transition model is developed based on polar coordinate system by making assumptions about the correlation property of elements in Hessian matrix. The computer simulation is executed to prove the validity of this model when it is applied together with Kalman Filter on a 2D scalar field exploration mission performed by four robots.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19295
专题水下机器人研究室
通讯作者Yu JC(俞建成)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhao WT,Yu JC,Zhang AQ. 2D scalar field estimation based on spatial correlation of Hessian matrix elements[C]. Piscataway, NJ, USA:IEEE,2016:92-96.
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