Title :
Robust State-Space Estimation for Mobile Robot Localization
Author :
Inoue, Roberto Santos ; Terra, Marco Henrique ; Grassi, Valdir, Jr.
Author_Institution :
Dept. of Electr. Eng., Univ. of Sao Paulo at Sao Carlos, Sao Carlos
Abstract :
This paper deals with the estimation of the localization of mobile robots based on robust Kalman filter. The data provided by odometric and sonar sensors are fused together using a robust filter to provide robot position and orientation estimates at each sampling time. Simulation results are presented, with a comparative study between the robust Kalman filter and the standard extended Kalman filter.
Keywords :
Kalman filters; mobile robots; path planning; sensor fusion; sonar signal processing; Kalman filter; mobile robot localization; robust state-space estimation; sonar sensor fusion; Filters; Mobile robots; Robot kinematics; Robot sensing systems; Robustness; Sampling methods; Sensor fusion; Sonar; State estimation; Uncertainty;
Conference_Titel :
Robotic Symposium, 2008. LARS '08. IEEE Latin American
Conference_Location :
Natal, Rio Grande do Norte
Print_ISBN :
978-1-4244-3379-7
Electronic_ISBN :
978-0-7695-3536-4
DOI :
10.1109/LARS.2008.31
