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题名: 2D scalar field estimation based on spatial correlation of Hessian matrix elements
作者: 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: 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 92-96
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19295
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Zhao WT,Yu JC,Zhang AQ. 2D scalar field estimation based on spatial correlation of Hessian matrix elements[C]. 见:6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.
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