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Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

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Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

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Samenvatting

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.

https://doi.org/10.4018/IJAIML.2020010101

https://www.linkedin.com/in/john-bolte-0856134/

OrganisatieDe Haagse Hogeschool
AfdelingFaculteit Technologie, Innovatie & Samenleving
LectoraatLectoraat Smart Sensor Systems
Gepubliceerd inInternational Journal of Artificial Intelligence and Machine Learning IGI Global, Hershey, Pennsylvania, Vol. 10, Uitgave: 1, Pagina's: 1-17
Datum2020-01-01
TypeArtikel
DOI10.4018/IJAIML.2020010101
TaalEngels

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