DocumentCode
2936249
Title
Improving the Robustness Properties of Robot Localization Procedures with Respect to Environment Features Uncertainties
Author
Ippoliti, G. ; Jetto, L. ; la Manna, A. ; Longhi, S.
Author_Institution
Dipartimento di Ingegneria Informatica, Gestionale e dell’Automazione Università Politecnica delle Marche Via Brecce Bianche, 60131 Ancona, Italy g.ippoliti@diiga.univpm.it
fYear
2005
fDate
18-22 April 2005
Firstpage
1451
Lastpage
1458
Abstract
In this paper the localization and environment feature estimation problems are formulated in a stochastic setting and an Extended Kalman Filtering (EKF) approach is proposed for the integration of odometric, gyroscope and sonar measures. As gyroscopic measures are much more reliable than the other ones, the localization algorithm gives rise to a nearly singular EKF. This problem is dealt with defining a lower order non singular EKF.
Keywords
Kalman filtering; Localization; Mobile robots; Equations; Filtering; Mobile robots; Robot kinematics; Robot localization; Robustness; Stochastic processes; Uncertainty; Vehicles; Wheelchairs; Kalman filtering; Localization; Mobile robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570319
Filename
1570319
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