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Sensor fusion for motion estimation of mobile robots with compensation for out-of-sequence measurements

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3 Author(s)
Karl Berntorp ; Department of Automatic Control, Lund University, Box 118, Sweden ; Karl-Erik Årzén ; Anders Robertsson

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.

Published in:

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Date of Conference:

26-29 Oct. 2011