Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots
Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots
Summary
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/
| Organisation | De Haagse Hogeschool |
| Department | Faculteit Technologie, Innovatie & Samenleving |
| Lectorate | Lectoraat Smart Sensor Systems |
| Published in | International Journal of Artificial Intelligence and Machine Learning IGI Global, Hershey, Pennsylvania, Vol. 10, Uitgave: 1, Pagina's: 1-17 |
| Date | 2020-01-01 |
| Type | Journal article |
| DOI | 10.4018/IJAIML.2020010101 |
| Language | English |
