Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements

Forskningsoutput: KonferensbidragKonferenspaper, ej i proceeding/ej förlagsutgivet

Abstract

The position and orientation estimation problem for mobile robots is approached by fusing measurements from inertial sensors, wheel encoders, and a camera. The sensor fusion approach is based on the standard extended Kalman filter, which is modified to handle measurements from the camera with unknown prior delay. A real-time implementation is done on a four-wheeled omni-directional mobile robot, using a dynamic model with 11 states. The algorithm is analyzed and validated with simulations and experiments.

Detaljer

Författare
Enheter & grupper
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Reglerteknik

Nyckelord

Originalspråkengelska
Sidor211-216
StatusPublished - 2011
PublikationskategoriForskning
Peer review utfördJa
Evenemang2011 11th International Conference on Control, Automation and Systems - Seoul, Korea
Varaktighet: 2011 okt 26 → …

Konferens

Konferens2011 11th International Conference on Control, Automation and Systems
Period2011/10/26 → …

Nedladdningar

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