Adaptive extended Kalman filter (AEKF)-based mobile robot localization using sonar

被引：31
|
作者：
Meng, QH [1 ]
Sun, YC
Cao, ZL
机构：
[1] Hebei Univ Technol, Tianjin 300130, Peoples R China
[2] Tianjin Inst Technol, Tianjin 300191, Peoples R China
来源：
ROBOTICA | 2000年 / 18卷 / 05期
关键词：
mobile robot; adaptive extended Kalman filter; localization; sonar;
D O I：
10.1017/S0263574700002605
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, an AEKF algorithm is used to localize a mobile robot equipped with eight Polaroid sonars in an indoor structured environment. The system state equation and sonar measurement models used for locating the mobile robot are set up. The localization process based on the AEKF algorithm is given. Four criteria used to judge the validity of predictive measurements of sonars are presented, which can increase the probability of the matching between predictive measurements and actual measurements. Experiments show that the localization precision based on our methods is greater than that using the conventional EKF algorithm.
引用
收藏
页码：459 / 473
页数：15
相关论文
共 50 条
  • [1] The Application of Adaptive Extended Kalman Filter in Mobile Robot Localization
    Pi Yuzhen
    Yuan Quande
    Zhang Benfa
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 5337 - 5342
  • [2] Mobile robot localization based on Extended Kalman Filter
    Kong, Fantian
    Chen, Youping
    Xie, Jingming
    Zhang, Gang
    Zhou, Zude
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 220 - 220
  • [3] Localization of a Mobile Robot Based on Extended Kalman Filter
    Liu, Dongbo
    Liu, Guorong
    Yu, Miaohua
    PROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON MODELLING AND SIMULATION (ICMS2009), VOL 6, 2009, : 357 - 360
  • [4] Enhancement of mobile robot localization using extended Kalman filter
    Faisal, Mohammed
    Alsulaiman, Mansour
    Hedjar, Ramdane
    Mathkour, Hassan
    Zuair, Mansour
    Altaheri, Hamdi
    Zakariah, Mohammed
    Bencherif, Mohammed A.
    Mekhtiche, Mohamed A.
    ADVANCES IN MECHANICAL ENGINEERING, 2016, 8 (11) : 1 - 11
  • [5] Localization of a Mobile Autonomous Robot using Extended Kalman Filter
    Shendre, Abhishek
    Sangale, Vishwanath
    2013 THIRD INTERNATIONAL CONFERENCE ON ADVANCES IN COMPUTING AND COMMUNICATIONS (ICACC 2013), 2013, : 274 - 277
  • [6] Extended Kalman Filter Based Localization for a Mobile Robot Team
    Lu, Jieying
    Li, Chuxi
    Su, Weizhou
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 939 - 944
  • [7] Multiple model adaptive extended Kalman!Filter for the robust localization of a mobile robot
    Touati, Y.
    Amirat, Y.
    Djarna, Z.
    Cherif, A. Ali
    ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2, 2007, : 446 - 454
  • [8] Mobile Robot Localization Using Fuzzy Neural Network Based Extended Kalman Filter
    Thi Thanh Van Nguyen
    Manh Duong Phung
    Thuan Hoang Tran
    Quang Vinh Tran
    2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2012), 2012, : 416 - 421
  • [9] Localization of a mobile robot based in odometry and natural landmarks using Extended Kalman Filter
    Santana, Andre M.
    Sousa, Anderson A. S.
    Britto, Ricardo S.
    Alsina, Pablo J.
    Medeiros, Adelardo A. D.
    ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2, 2008, : 187 - 193
  • [10] Mobile Robot using Kalman Filter for Localization
    Hasan, Hameedah Sahib
    Khudhair, Maher Rehaif
    Kamil, Farah
    INTERNATIONAL JOURNAL OF MULTIPHYSICS, 2024, 18 (03) : 1037 - 1045
12345