Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-reckoning

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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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)0818627204
Publication statusPublished - 1 Dec 1992
EventIEEE International Conference on Robotics and Automation 1992 - Nice, France
Duration: 12 May 199214 May 1992
https://ieeexplore.ieee.org/xpl/conhome/399/proceeding (Proceedings)


ConferenceIEEE International Conference on Robotics and Automation 1992
Abbreviated titleICRA 1992
Internet address

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