Research on multi-sensor information fusion and intelligent optimization algorithm and related topics of mobile robots

Research on mobile robots began in the late 1960s. Mobile robots are a typical autonomous intelligent system and a hot spot in the high-tech field. They are the intersection of multiple technical disciplines such as computer artificial intelligence, robotics, control theory and electronic technology. The product not only has potentially very attractive application value and commercial value, but the research on it is also a challenge to intelligent technology. The development of mobile robots provides excellent research for various intelligent technologies and solutions. This dissertation aims to study the research of multi-sensor information fusion and intelligent optimization methods and the methods of applying them to mobile robot related technologies, and in-depth study of the construction of mobile robot maps from the perspective of multi-sensor information fusion. And, in order to achieve this function, combined with autonomous exploration and other related theories and algorithms, combined with the Robot Operating System (ROS). This paper proposes the area equalization method, equalization method, fuzzy neural network and other methods to promote the realization of related technologies. At the same time, this paper conducts simulation research based on the SLAM comprehensive experiment of the JNPF-4WD square mobile robot. On this basis, the high precision and high reliability of robot positioning are further realized. The experimental results in this paper show that the maximum error of the X-axis and Y-axis, FastSLAM algorithm is smaller than EKF algorithm, and the improved FASTSALM algorithm error is further reduced compared with the original FastSLAM algorithm, the value is less than 0.1.

A Novel Approach to Evaluate Reduced Inter Symbol Interference in UFMC Systems

The UFMC modulation scheme has been proposed as a solid competitive framework for future portable fifth generation communication. UFMC can be considered as a candidate waveform for 5G communications since it gives strength against Inter Symbol Interference (ISI) [1]. Inter-symbol interference prompted error can make the receiver neglect to reproduce the original data. Equalizers in the receivers, which are extraordinary sorts of filters, moderate the direct twisting created by the channel [2]. On the off chance that the channel’s time-fluctuating qualities are known from the earlier, at that point, the ideal setting for equalizers can be worked out. But in practical systems the channel’s time-changing attributes are not known from the earlier, so adaptive equalization method is applied in this paper based on the LMS algorithms. Adaptive equalizers are adjusted, or change the estimation of its taps as time advances [3].

Improved Approach for the Maximum Entropy Deconvolution Problem

The probability density function (pdf) valid for the Gaussian case is often applied for describing the convolutional noise pdf in the blind adaptive deconvolution problem, although it is known that it can be applied only at the latter stages of the deconvolution process, where the convolutional noise pdf tends to be approximately Gaussian. Recently, the deconvolutional noise pdf was approximated with the Edgeworth Expansion and with the Maximum Entropy density function for the 16 Quadrature Amplitude Modulation (QAM) input but no equalization performance improvement was seen for the hard channel case with the equalization algorithm based on the Maximum Entropy density function approach for the convolutional noise pdf compared with the original Maximum Entropy algorithm, while for the Edgeworth Expansion approximation technique, additional predefined parameters were needed in the algorithm. In this paper, the Generalized Gaussian density (GGD) function and the Edgeworth Expansion are applied for approximating the convolutional noise pdf for the 16 QAM input case, with no need for additional predefined parameters in the obtained equalization method. Simulation results indicate that improved equalization performance is obtained from the convergence time point of view of approximately 15,000 symbols for the hard channel case with our new proposed equalization method based on the new model for the convolutional noise pdf compared to the original Maximum Entropy algorithm. By convergence time, we mean the number of symbols required to reach a residual inter-symbol-interference (ISI) for which reliable decisions can be made on the equalized output sequence.