http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
원격조종을 위해 불확실한 시간 지연 측정값을 고려한 모션 추정 방법
최민용(Minyong Choi),정완균(Wan Kyun Chung),최원섭(Wonsub Choi),이상엽(Sangyup Yi),박종훈(Jonghoon Park) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
Motion estimation is crucial in a remote control for its convenience or accuracy. Time delays, however, can occur in the problem because data communication is required through a network. In this paper, state estimation problem with uncertain time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in the filter algorithm. Standard filters not considering this time delays cannot be used since the current measurement is related with a past state. These delayed measurements are solved with augmented extended Kalman filter, and the uncertainty of delayed time is also resolved based on an explicit formulation. The proposed method is analyzed and verified by simulations.