Abstract
This paper introduces an extended Kalman filter based robust localization for mobile robot. The presented EKF estimates the velocity and angular velocity disturbances with the robot position and the position of landmarks. The consideration of the disturbance assists to estimate the correct physical values under the disturbance. Furthermore, this paper presents a position control with the velocity disturbance cancellation.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 312-315 |
| Number of pages | 4 |
| ISBN (Electronic) | 9781538629826 |
| DOIs | |
| Publication status | Published - 2018 Oct 17 |
| Event | 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 - Tsu, Japan Duration: 2018 Sep 10 → 2018 Sep 12 |
Other
| Other | 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 |
|---|---|
| Country | Japan |
| City | Tsu |
| Period | 18/9/10 → 18/9/12 |
Keywords
- disturbance estimation
- EKF
- mobilr robot
- motion control
ASJC Scopus subject areas
- Human-Computer Interaction
- Signal Processing
- Mechanical Engineering
- Artificial Intelligence
- Modelling and Simulation
- Orthopedics and Sports Medicine
- Control and Optimization
- Rehabilitation
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Cite this
Shimada, A. (2018). Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation. In Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 (pp. 312-315). [8495723] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MECATRONICS.2018.8495723