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
fDate :
4/1/1999 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Transactions on
