Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation

Akira Shimada

doi:10.1109/MECATRONICS.2018.8495723

Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation

Akira Shimada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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	https://doi.org/10.1109/MECATRONICS.2018.8495723
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/Territory	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

Access to Document

10.1109/MECATRONICS.2018.8495723

Cite this

Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation. / Shimada, Akira.

Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 312-315 8495723.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 8495723, Institute of Electrical and Electronics Engineers Inc., pp. 312-315, 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018, Tsu, Japan, 18/9/10. https://doi.org/10.1109/MECATRONICS.2018.8495723

@inproceedings{cf4f8c5fcf074a308d585376104abfc7,

title = "Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation",

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.",

keywords = "disturbance estimation, EKF, mobilr robot, motion control",

author = "Akira Shimada",

year = "2018",

month = oct,

day = "17",

doi = "10.1109/MECATRONICS.2018.8495723",

language = "English",

pages = "312--315",

booktitle = "Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 ; Conference date: 10-09-2018 Through 12-09-2018",

}

TY - GEN

T1 - Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation

AU - Shimada, Akira

PY - 2018/10/17

Y1 - 2018/10/17

N2 - 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.

AB - 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.

KW - disturbance estimation

KW - EKF

KW - mobilr robot

KW - motion control

UR - http://www.scopus.com/inward/record.url?scp=85057162530&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85057162530&partnerID=8YFLogxK

U2 - 10.1109/MECATRONICS.2018.8495723

DO - 10.1109/MECATRONICS.2018.8495723

M3 - Conference contribution

AN - SCOPUS:85057162530

SP - 312

EP - 315

BT - Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018

Y2 - 10 September 2018 through 12 September 2018

ER -

Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation

Abstract

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this