An application of the extended Kalman filter for integrated navigation in mobile robotics

Author

Alessandri, A. ; Bartolini, G. ; Pavanati, P. ; Punta, E. ; Vinci, A.

Author_Institution

Inst. for Naval Autom., CNR, Genova, Italy

Volume

1

fYear

1997

fDate

4-6 Jun 1997

Firstpage

527

Abstract

In this paper the problem of integrated navigation for mobile robotics is addressed. The dynamics of ground robots are nonlinear, as well as the measurement devices. For the purposes of position estimation, a dead reckoning problem with a wheeled mobile robot is considered using a gyro and two wheel encoders. The extended Kalman filter (EKF) is used to provide an estimate of vehicle state, gyro error dynamics and variables describing the slip effects. The parameters of the error dynamics have been identified and validated off-line by real data. Simulations results have confirmed the efficacy of the proposed approach, by comparing the performances of the EKF with and without a wheel slip model

Keywords

Kalman filters; encoding; gyroscopes; inertial navigation; mobile robots; parameter estimation; position control; robot dynamics; state estimation; dead reckoning; dynamics; extended Kalman filter; gyroscope; mobile robot; navigation; parameter estimation; position estimation; state estimation; wheel encoders; wheel slip model; Dead reckoning; Mobile computing; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; State estimation; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.611855

Filename

611855