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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 orcid 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
; and
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
conference dates
2011-10-26
external identifiers
  • wos:000300490000040
  • scopus:84856555888
project
ENGROSS
language
English
LU publication?
yes
additional info
month=October key=bern_etal2011ccas
id
8c506f63-0d4e-478d-ace9-03637fa0a75b (old id 2277200)
date added to LUP
2016-04-04 14:35:27
date last changed
2022-01-30 02:17:11
@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}},
  keywords     = {{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}},
  url          = {{https://lup.lub.lu.se/search/files/6395373/2277403.pdf}},
  year         = {{2011}},
}