Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2011
Språk
Engelska
Sidor
211-216
Fulltext
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Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Nyckelord
- mobile robotics
- estimation
- localization
- Extended Kalman filter
- out-of-sequence
- sensor fusion
Conference name
2011 11th International Conference on Control, Automation and Systems
Conference date
2011-10-26
Status
Published
Projekt
- ENGROSS
Forskningsgrupp
- LCCC