Sensor fusion for motion estimation of mobile robots with compensation for out-of-sequence measurements

Author

Berntorp, Karl ; Årzén, Karl-Erik ; Robertsson, Anders

Author_Institution

Dept. of Autom. Control, Lund Univ., Lund, Sweden

fYear

2011

fDate

26-29 Oct. 2011

Firstpage

211

Lastpage

216

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

Kalman filters; mobile robots; motion estimation; nonlinear filters; robot vision; sensor fusion; camera; dynamic model; extended Kalman filter; four-wheeled omni-directional mobile robot; inertial sensors; motion estimation; orientation estimation problem; out-of-sequence measurement compensation; position estimation problem; sensor fusion approach; wheel encoders; Cameras; Delay; Mobile robots; Robot kinematics; Robot sensing systems; Extended Kalman filter; estimation; localization; mobile robotics; out-of-sequence; sensor fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Conference_Location

Gyeonggi-do

ISSN

2093-7121

Print_ISBN

978-1-4577-0835-0

Type

conf

Filename

6106276