DocumentCode
1500828
Title
Development and experimental validation of an adaptive extended Kalman filter for the localization of mobile robots
Author
Jetto, Leopoldo ; Longhi, Sauro ; Venturini, Giuseppe
Author_Institution
Dipt. di Elettronica e Autom., Ancona Univ., Italy
Volume
15
Issue
2
fYear
1999
fDate
4/1/1999 12:00:00 AM
Firstpage
219
Lastpage
229
Abstract
A basic requirement for an autonomous mobile robot is its capability to elaborate the sensor measures to localize itself with respect to a coordinate system. To this purpose, the data provided by odometric and sonar sensors are here fused together by means of an extended Kalman filter. The performance of the filter is improved by an online adjustment of the input and measurement noise covariances obtained by a suitably defined estimation algorithm
Keywords
adaptive Kalman filters; adaptive estimation; distance measurement; filtering theory; mobile robots; nonlinear filters; sensor fusion; sonar; adaptive extended Kalman filter; autonomous mobile robot; coordinate system; localization; measurement noise covariances; odometric sensor; sonar sensor; Filters; Mobile robots; Noise measurement; Optical sensors; Remotely operated vehicles; Sampling methods; Sensor fusion; Sensor phenomena and characterization; Sonar measurements; Wheels;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.760343
Filename
760343
Link To Document