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Dynamic location of a mobile robot by extended Kalman filtering

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3 Author(s)
Doncarli, C. ; Lab. d''Autom. de Nantes ENSM/CNRS, France ; Le Corre, J.F. ; Devise, O.

The goal of the work described is to provide an estimation algorithm of the dynamics of a mobile robot. The measured variables are the control laws of the motors and the angles between the robot principal axis and a lot of fixed beacons, given by a rotative onboard camera. The specific problems are of several types: the motion of the robot is described by a continuous-time nonlinear equation. The measures are uncadenced and nonlinear (angles). The state of the robot is not observable by a single measure. So a specific continuous/discrete-time extended Kalman filter with measurement reconstruction is developed

Published in:

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Date of Conference:

3-5 Nov 1991