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

Karl Berntorp; Karl-Erik Årzén; Anders Robertsson

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

Karl Berntorp, Karl-Erik Årzén, Anders Robertsson

Forskningsoutput: Konferensbidrag › Konferenspaper, ej i proceeding/ej förlagsutgivet › Peer review

1517 Nedladdningar (Pure)

Sammanfattning

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.

Originalspråk	engelska
Sidor	211-216
Status	Published - 2011
Evenemang	2011 11th International Conference on Control, Automation and Systems - Seoul, Korea Varaktighet: 2011 okt. 26 → …

Konferens

Konferens	2011 11th International Conference on Control, Automation and Systems
Period	2011/10/26 → …

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month=October
key=bern_etal2011ccas

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title = "Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements",

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.",

keywords = "mobile robotics, estimation, localization, Extended Kalman filter, out-of-sequence, sensor fusion",

author = "Karl Berntorp and Karl-Erik {\AA}rz{\'e}n and Anders Robertsson",

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year = "2011",

language = "English",

pages = "211--216",

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Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements. / Berntorp, Karl; Årzén, Karl-Erik; Robertsson, Anders.
2011. 211-216 Artikel presenterad vid 2011 11th International Conference on Control, Automation and Systems.

Forskningsoutput: Konferensbidrag › Konferenspaper, ej i proceeding/ej förlagsutgivet › Peer review

TY - CONF

T1 - Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements

AU - Berntorp, Karl

AU - Årzén, Karl-Erik

AU - Robertsson, Anders

N1 - month=October key=bern_etal2011ccas

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - mobile robotics

KW - estimation

KW - localization

KW - Extended Kalman filter

KW - out-of-sequence

KW - sensor fusion

M3 - Paper, not in proceeding

SP - 211

EP - 216

T2 - 2011 11th International Conference on Control, Automation and Systems

Y2 - 26 October 2011

ER -

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

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