Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements

被引：0

作者：

Berntorp, Karl ^{[1
]}

Arzen, Karl-Erik ^{[1
]}

Robertsson, Anders ^{[1
]}

机构：

[1] Lund Univ, Dept Automat Control, Lund, Sweden

来源：

2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2011年

关键词：

Extended Kalman filter; out-of-sequence; localization; estimation; mobile robotics; sensor fusion; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The position and orientation estimation problem for mobile robots is approached by fusing measurements from inertial sensors, wheel encoders, and a camera. The sensor fusion approach is based on the standard extended Kalman filter, which is modified to handle measurements from the camera with unknown prior delay. A real-time implementation is done on a four-wheeled omni-directional mobile robot, using a dynamic model with 11 states. The algorithm is analyzed and validated with simulations and experiments.

引用

页码：211 / 216

页数：6

共 50 条

[21] IMM estimator with out-of-sequence measurements
Bar-Shalom, Y
Chen, HM
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2005, 41 (01) : 90 - 98
[22] A unified out-of-sequence measurements filter
Yu, AX
Liang, DN
Hu, WD
Dong, Z
2005 IEEE International Radar, Conference Record, 2005, : 453 - 458
[23] IMM estimator with out-of-sequence measurements
Bar-Shalom, Y
Chen, H
SIGNAL AND DATA PROCESSING OF SMALL TARGETS 2004, 2004, 5428 : 192 - 201
[24] Optimal Distributed Fusion Update with Same Lag Time Out-of-Sequence Measurements
Shen, Xiaojing
Zhu, Yunmin
Wang, Donghua
You, Zhisheng
Song, Enbin
2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 320 - 325
[25] Multi-sensor multi-target tracking with out-of-sequence measurements
Zhang, K
Li, XR
Chen, H
FUSION 2003: PROCEEDINGS OF THE SIXTH INTERNATIONAL CONFERENCE OF INFORMATION FUSION, VOLS 1 AND 2, 2003, : 672 - 679
[26] COMPARATIVE OUT-OF-SEQUENCE ESTIMATION TECHNIQUES FOR MULTI-SENSOR TARGET TRACKING
Mosquera-Lopez, Clara
Pack, Daniel
7TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2014, VOL 2, 2014,
[27] Practical implementation issues of out-of-sequence measurements
Lanzkron, PJ
PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2004, : 4749 - 4749
[28] Particle filters for tracking with out-of-sequence measurements
Orton, M
Marrs, A
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2005, 41 (02) : 693 - 702
[29] Optimal Update with Multiple Out-of-Sequence Measurements
Zhang, Shuo
Bar-Shalom, Yaakov
SIGNAL PROCESSING, SENSOR FUSION, AND TARGET RECOGNITION XX, 2011, 8050
[30] Removal of Out-of-Sequence Measurements from Tracks
Bar-Shalom, Yaakov
Chen, Huimin
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2009, 45 (02) : 612 - 619

← 1 2 3 4 5 →