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Documentos de Profesional
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1.
INTRODUCCIN
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13
14
SISTEMA DE PERCEPCIN
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yA
yC
h
D
xL
Y
yB X
yD
h
xR
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x A = xC = x L
xB = xD = xR
(1)
15
hL = y C y A
hR = y D y B
(2)
ZL
ZC
XC
XL XM XR
XM =
XR XL
2
y ZM =
XR
x
= R
ZR f
f
h
E
= L
ZL f
f
h
E
= R
ZR f
f
ZR ZL
2
(6)
XL =
ZL f
xL
f
XR =
ZR f
xR
f
Z R = f
+ 1
hR
(7)
ZM
XL
x
= L
ZL f
f
+ 1
Z L = f
hL
ZR
(3)
= X M 2 + ZM 2
y = arctan
ZM
XM
(4)
= arctan
ZR ZL
XR XL
(5)
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0
T =
c PAN
0
C
B
c PAN sTILT
cTILT
s PAN sTILT
0
c PAN cTILT
sTILT
s PAN cTILT
0
l IC sTILT + l BU + lUN + l SP
l IC s PAN cTILT l PT s PAN
(8)
C
Y
T
=
B
B
YC
Z B
Z B
3.
(9)
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[ ]
[z , R ] = hacer_medicin
[x , P ] = agregar_rasgo(x
0
B
0
B
0
x
=
x BF
B
R
B
0
, P0B , z 0 , R 0
for k = 1 to steps do
[x , Q ] = hacer_odometra
[x , P ] = calc_mvto(x
[z , R ] = hacer_medicin
Rk 1
Rk
B
k / k 1
B
k / k 1
B
k 1
[x
[x
B
estimada x y un error de covarianza estimado PB:
x B = E x B
B
k
B
k
B
k
,P
B
k
,P
] = act_mapa(x , P , z , R , H ){act}
] = agregar_nuevo_rasgo(x , P , z , R , H )
B
k / k 1
B
k / k 1
B
k
B
k
end for
Tabla 1. Algoritmo de Slam-EKF utilizado.
[(
P = E x x
B
)(x
)]
B T
B
PRB PRF
(10)
PFB R PFB
[
= [x
x R = [x R
yR
R ]T
& x RF = x F
yF
x R = [x R
yR
R ]T
& x RF
yF
Fi
(11)
(12)
x 0B = x BR = 0 ; P0B = PRB = 0
0
18
(13)
z k .i = x F
yF
& z k .i = x F
yF
(14)
R k .i
2
0
0
2
0
2
=
0
2 ; R k .i = 0
0
(15)
x RR
k 1
k
= x RR + v k
k 1
k
el
(16)
x Rk 1
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Rk 1
Rk
= [0]
x 2
0
0
2
Qk = 0 y
0
2
0
0
Ahora, dado
su prediccin para el instante k, despus del prximo
movimiento del robot ser:
x
x
B
x F1,k 1
=
Fm ,k 1
x kB/ k 1
Rk 1
Rk
J 1 x BR , x RR 1
1
x kB/ k 1
0
Fk =
=
x kB1 (x , x )
J 2 x BR , x RR 1
1
B
x k / k 1
0
=
Gk =
x RR 1
1
(x 1 , x )
0
B
Rk 1
Rk 1
Rk
k
k
B
Rk
x kB = x kB / k 1 + K H k v H k
(19)
(
= (I K
)
)P (I K
PkB = I K H k H H k PkB/ k 1
Hk
H Hk
B
k / k 1
Hk
H Hk
(20)
+ K H k H H k K TH k
PkB/ k 1 Fk PkB1Fk + G k Q k G k
(17)
B
Rk 1
Rk
Rk
0 0
x BR
B
xk =
x B
F
n ,k
x BR
=
x
k+
x BF
x E
n ,k
x BR
=
x BF
B
R
x R x E
k
n ,k
(21)
H k = [ j1 , j2 ,..., jm ]
(18)
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4.
RESLTADOS EXPERIMENTALES
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5.
CONCLUSIONES
REFERENCIAS
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