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

Berntorp, Karl LU ; Årzén, Karl-Erik LU and Robertsson, Anders LU (2011) 2011 11th International Conference on Control, Automation and Systems p.211-216
Abstract
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.
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
mobile robotics, estimation, localization, Extended Kalman filter, out-of-sequence, sensor fusion
pages
211 - 216
conference name
2011 11th International Conference on Control, Automation and Systems
external identifiers
  • WOS:000300490000040
  • Scopus:84856555888
project
ENGROSS
language
English
LU publication?
yes
id
8c506f63-0d4e-478d-ace9-03637fa0a75b (old id 2277200)
date added to LUP
2012-01-05 11:47:45
date last changed
2016-10-13 05:03:04
@misc{8c506f63-0d4e-478d-ace9-03637fa0a75b,
  abstract     = {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.},
  author       = {Berntorp, Karl and Årzén, Karl-Erik and Robertsson, Anders},
  keyword      = {mobile robotics,estimation,localization,Extended Kalman filter,out-of-sequence,sensor fusion},
  language     = {eng},
  pages        = {211--216},
  title        = {Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements},
  year         = {2011},
}