Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements

被引：0
|
作者：
Berntorp, Karl [1 ]
Arzen, Karl-Erik [1 ]
Robertsson, Anders [1 ]
机构：
[1] Lund Univ, Dept Automat Control, Lund, Sweden
来源：
2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2011年
关键词：
Extended Kalman filter; out-of-sequence; localization; estimation; mobile robotics; sensor fusion; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：211 / 216
页数：6
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