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

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Author

Summary, in English

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.

Publishing year

2011

Language

English

Pages

211-216

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • mobile robotics
  • estimation
  • localization
  • Extended Kalman filter
  • out-of-sequence
  • sensor fusion

Conference name

2011 11th International Conference on Control, Automation and Systems

Conference date

2011-10-26

Status

Published

Project

  • ENGROSS

Research group

  • LCCC