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
  • [21] AUV Self-localization in Structured Environments Using a Scanning Sonar and an Extended Kalman Filter
    Fula, Joao P.
    Ferreira, Bruno M.
    Oliveira, Antonio J.
    OCEANS 2018 MTS/IEEE CHARLESTON, 2018,
  • [22] Grid-based localization of a mobile robot using sonar sensors
    Lim, JH
    Kang, CU
    KSME INTERNATIONAL JOURNAL, 2002, 16 (03): : 302 - 309
  • [23] Grid-based localization of a mobile robot using sonar sensors
    Jong-Hwan Lim
    Chul-Ung Kang
    KSME International Journal, 2002, 16 : 302 - 309
  • [24] Sensor Fusion for Mobile Robot Localization Using Extended Kalman Filter, UWB ToF and ArUco Markers
    Faria, Silvia
    Lima, Jose
    Costa, Paulo
    OPTIMIZATION, LEARNING ALGORITHMS AND APPLICATIONS, OL2A 2021, 2021, 1488 : 235 - 250
  • [25] Implementation of extended kalman filter for localization of ambulance robot
    Yang, Chan-Yun
    Samani, Hooman
    Tang, Zirong
    Li, Chunxu
    INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2024, 8 (04) : 960 - 973
  • [26] Fuzzy adaptive particle filter for localization of a mobile robot
    Kim, Young-Joong
    Won, Chan-Hee
    Pak, Jung-Min
    Lim, Myo-Taeg
    KNOWLEDGE-BASED INTELLIGENT INFORMATION AND ENGINEERING SYSTEMS: KES 2007 - WIRN 2007, PT III, PROCEEDINGS, 2007, 4694 : 41 - +
  • [27] Constrained Kalman filter for mobile robot localization with gyroscope
    Myung, Hyun
    Lee, Hyoung-Ki
    Choi, Kiwan
    Bang, Seok-Won
    Lee, Yong-Beom
    Kim, Sang-Ryoung
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 442 - +
  • [28] Hybrid localization approach of a bi-steerable mobile robot based on grids matching and extended Kalman filter
    Bouraine, S.
    Djekoune, A. O.
    Azouaui, O.
    PROCEEDINGS OF THE 11TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 2008, : 1136 - 1141
  • [29] Enhanced SLAM for a mobile robot using extended Kalman Filter and neural networks
    Kyung-Sik Choi
    Suk-Gyu Lee
    International Journal of Precision Engineering and Manufacturing, 2010, 11 : 255 - 264
  • [30] Enhanced SLAM for a Mobile Robot using Extended Kalman Filter and Neural Networks
    Choi, Kyung-Sik
    Lee, Suk-Gyu
    INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2010, 11 (02) : 255 - 264
12345