A rotating sonar and a differential encoder data fusion for map-based dynamic localization

被引：0
|
作者：
Yang, HY [1 ]
Chung, HY [1 ]
Park, KC [1 ]
Lee, JG [1 ]
机构：
[1] LG Ind Syst Res & Dev Ctr, Anyang 430080, Kyongki Do, South Korea
来源：
INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98) | 1998年
关键词：
dynamic; position estimation; model-based recognition; ultra sonic transducer; Kalman filter;
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：
In this paper, a dynamic localization method using a rotating sonar and a map is proposed. The proposed method is implemented by using an extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while a mobile robot is moving continuously. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error. Copyright (C) 1998 IFAC.
引用
收藏
页码：183 / 187
页数：5
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