TY - GEN
T1 - Hybrid Extended Kalman Filter-based localization with a highly accurate odometry model of a mobile robot
AU - Cong, Tran Him
AU - Kim, Young Joong
AU - Lim, Myo Taeg
PY - 2008
Y1 - 2008
N2 - This paper describes an improving method for solving localization problems with a highly accurate model of a mobile robot either in an uncertainly large-scale environment. Firstly, we motivate our approach by analyzing intensively the dead-reckoning model for the tricycle robot type. Secondly, we propose the localization algorithm based on a Hybrid Extended Kalman Filter using artificial beacons. In this paper, 360° sensor scan is used for each observation and the odometry data is updated to estimate the robot position. Then a comparison between the real and the estimated location of beacons and analyzing of the filter's performance are taken. The simulation results show that the proposed algorithm can lead the robot to robustly navigate in uncertain environments.
AB - This paper describes an improving method for solving localization problems with a highly accurate model of a mobile robot either in an uncertainly large-scale environment. Firstly, we motivate our approach by analyzing intensively the dead-reckoning model for the tricycle robot type. Secondly, we propose the localization algorithm based on a Hybrid Extended Kalman Filter using artificial beacons. In this paper, 360° sensor scan is used for each observation and the odometry data is updated to estimate the robot position. Then a comparison between the real and the estimated location of beacons and analyzing of the filter's performance are taken. The simulation results show that the proposed algorithm can lead the robot to robustly navigate in uncertain environments.
KW - Extended Kalman filter
KW - Localization
KW - Mobile robot
UR - http://www.scopus.com/inward/record.url?scp=58149102584&partnerID=8YFLogxK
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U2 - 10.1109/ICCAS.2008.4694596
DO - 10.1109/ICCAS.2008.4694596
M3 - Conference contribution
AN - SCOPUS:58149102584
SN - 9788995003893
T3 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
SP - 738
EP - 743
BT - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
T2 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
Y2 - 14 October 2008 through 17 October 2008
ER -