Adaptive extended Kalman filter (AEKF)-based mobile robot localization using sonar

被引：31
|
作者：
Meng, QH [1 ]
Sun, YC
Cao, ZL
机构：
[1] Hebei Univ Technol, Tianjin 300130, Peoples R China
[2] Tianjin Inst Technol, Tianjin 300191, Peoples R China
来源：
ROBOTICA | 2000年 / 18卷 / 05期
关键词：
mobile robot; adaptive extended Kalman filter; localization; sonar;
D O I：
10.1017/S0263574700002605
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, an AEKF algorithm is used to localize a mobile robot equipped with eight Polaroid sonars in an indoor structured environment. The system state equation and sonar measurement models used for locating the mobile robot are set up. The localization process based on the AEKF algorithm is given. Four criteria used to judge the validity of predictive measurements of sonars are presented, which can increase the probability of the matching between predictive measurements and actual measurements. Experiments show that the localization precision based on our methods is greater than that using the conventional EKF algorithm.
引用
收藏
页码：459 / 473
页数：15
相关论文
共 50 条
  • [41] Adaptive Fading Extended Kalman Filtering for Mobile Robot Localization Using a Doppler-Azimuth Radar
    Li, Bin
    Lu, Yanyang
    Karimi, Hamid Reza
    ELECTRONICS, 2021, 10 (20)
  • [42] Neural Network Based Extended Kalman Filter for Localization of Mobile Robots
    Wei, Zhuo
    Yang, Simon X.
    2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011), 2011, : 937 - 942
  • [43] Sonar based mobile robot localization by using fuzzy triangulation
    Demirli, K
    Türken, IB
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2000, 33 (2-3) : 109 - 123
  • [44] Mobile robot localization with gyroscope and constrained Kalman filter
    Hyun Myung
    Hyoung-Ki Lee
    Kiwan Choi
    Seokwon Bang
    International Journal of Control, Automation and Systems, 2010, 8 : 667 - 676
  • [45] Constrained Kalman filter for mobile robot localization with gyroscope
    Myung, Hyun
    Lee, Hyoung-Ki
    Choi, Kiwan
    Bang, Seok-Won
    Lee, Yong-Beom
    Kim, Sang-Ryoung
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 442 - +
  • [46] Mobile Robot Localization with Gyroscope and Constrained Kalman Filter
    Myung, Hyun
    Lee, Hyoung-Ki
    Choi, Kiwan
    Bang, Seokwon
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2010, 8 (03) : 667 - 676
  • [47] Extended Kalman filter based mobile robot pose tracking using occupancy grid maps
    Ivanjko, E
    Petrovic, I
    MELECON 2004: PROCEEDINGS OF THE 12TH IEEE MEDITERRANEAN ELECTROTECHNICAL CONFERENCE, VOLS 1-3, 2004, : 311 - 314
  • [48] MOBILE ROBOT LOCALIZATION USING SONAR.
    Drumheller, Michael
    IEEE Transactions on Pattern Analysis and Machine Intelligence, 1987, PAMI-9 (02) : 325 - 332
  • [49] Adaptive Kalman filtering for GPS-based mobile robot localization
    Reina, Giulio
    Vargas, Andres
    Nagatani, Keiji
    Yoshida, Kazuya
    2007 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTICS, 2007, : 84 - +
  • [50] Hybrid localization approach of a bi-steerable mobile robot based on grids matching and extended Kalman filter
    Bouraine, S.
    Djekoune, A. O.
    Azouaui, O.
    PROCEEDINGS OF THE 11TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 2008, : 1136 - 1141
12345