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Research on Target Tracking Algorithm for Multisensor Measurement Based Robot

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2 Author(s)
Fengchun Zhu ; Sch. of Inf., Linyi Normal Univ., Linyi ; Ju Dai

Most of the traditional researches of the robotics based on multi-sensor data fusion concentrated on the problems of autonomous navigation and localization, few of them involved the target tracking. The existing fusion method based on the network time-delay applied the traditional synchronized fusion algorithm directly, therefore, it had led many problems, such as the information waiting, resources waste, and the bad real-time performance. This paper unified the predictive estimate and the recursion weighted fusion technology to design a new multi-sensor predictive weighted fusion algorithm, which could adapts to the network time-delay. This algorithm not only can solve the defects of the existing data fusion method based on the network time-delay effectively, but also has good function of real-time prediction. In this paper, the author provided the deduction process of the new algorithm, and demonstrated the practicability and superiority of the new algorithm through the computer simulation example.

Published in:

Information Science and Engineering, 2008. ISISE '08. International Symposium on  (Volume:1 )

Date of Conference:

20-22 Dec. 2008