Naslov
Extended Kalman Filter based Mobile Robot Pose Tracking using Occupancy Grid Maps

Autori
Ivanjko, Edouard ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of The 12th IEEE Mediterranean Electro-technical Conference, MELECON 2004. / - Dubrovnik, 2004, 311-314

Skup
The 12th IEEE Mediterranean Electro-technical Conference, MELECON 2004

Mjesto i datum
Dubrovnik, Hrvatska, 12.05.2004. - 15.05.2004

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robots ; localization ; Extended Kalman Filter

Sažetak
Mobile robot pose tracking is mostly based on odometry. However, with time, odometric pose tracking accumulates errors in an unbounded fashion. This paper describes a way to decrease the odometry error by using an Extended Kalman Filter (EKF) for fusion of calibrated odometry data and sonar readings. Common approaches for calibrated odometry and sonar fusion use a feature based map which has two uncertainties in the measurement process. One uncertainty is related to the sonar range reading and the other one to the eature/range reading assignment. Our approach is adapted to an occupancy grid map which has only the sonar range reading uncertainty in the measurement process. Experimental results on the mobile robot Pioneer 2DX show improved accuracy of the pose estimation compared to the calibrated odometry.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA