Abstract
An active beacon localization system that estimates position and heading for a mobile robot is described. An iterated extended Kalman filter was applied to the beacon and dead-reckoning data to estimate optimal values of position and heading, given a model for the localizer and robot motion. The author describes the implementation and experimental results of the localization system. Position and heading angle updates were calculated in real time every 150 ms with a measured standard deviation of path error of 40 mm in a 12 m2 workspace.
Original language | English |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 2582-2587 |
Number of pages | 6 |
Volume | 3 |
ISBN (Print) | 0818627204 |
Publication status | Published - 1 Dec 1992 |
Event | IEEE International Conference on Robotics and Automation 1992 - Nice, France Duration: 12 May 1992 → 14 May 1992 https://ieeexplore.ieee.org/xpl/conhome/399/proceeding (Proceedings) |
Conference
Conference | IEEE International Conference on Robotics and Automation 1992 |
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Abbreviated title | ICRA 1992 |
Country/Territory | France |
City | Nice |
Period | 12/05/92 → 14/05/92 |
Internet address |
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