LOCALIZATION DEVICE, METHOD AND ROBOT USING FUZZY EXTENDED KALMAN FILTER ALGORITHM

摘要

A location awareness device, a method and a moving robot using a fuzzy extended Kalman filter are disclosed. A sensor unit comprises at least one sensor which measures the location of a moving robot. A control unit predicts a condition of the moving robot; calculates a weighted value and sensor reliability of the moving robot using the predicted moving robot condition; selects a sensor based on the calculated sensor reliability; and measures the condition of the moving robot based on the data detected by the selected sensor and the calculated weighted value. [Reference numerals] (211) Extended Kalman filter time update unit; (212) Variation calculation unit; (213) Weighted value calculation unit; (214) Sensor reliability calculation unit; (215) Sensor selecting unit; (216) Extended Kalman filter measurement update unit