DocumentCode
3126246
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
fYear
2008
fDate
29-30 Oct. 2008
Firstpage
85
Lastpage
90
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/LARS.2008.31
Filename
4812631
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