Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

doi:10.1088/1674-1056/23/1/010701

Abstract This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering performance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.

Keywords: fast filtering vibration system neural information exchange micro motion robot

Received: 07 March 2013
Revised: 02 June 2013
Accepted manuscript online:

PACS:	07.50.Qx	(Signal processing electronics)
	43.40.Cw	(Vibrations of strings, rods, and beams)
	07.10.Cm	(Micromechanical devices and systems)
	45.40.Ln	(Robotics)

Fund: Project supported by the National Natural Science Foundation of China (Grant Nos. 60901074, 51075092, 61005076, and 61175107), the National High Technology Research and Development Program of China (Grant No. 2007AA042105), and the Natural Science Foundation of Heilongjiang Province, China (Grant No. E200903).

Corresponding Authors: Li Man-Tian
E-mail: skymoon.hit@gmail.com

Cite this article:

Gao Wa (高娃), Zha Fu-Sheng (查富生), Song Bao-Yu (宋宝玉), Li Man-Tian (李满天) Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot 2014 Chin. Phys. B 23 010701

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Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

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