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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages312-315
Number of pages4
ISBN (Electronic)9781538629826
DOIs
Publication statusPublished - 2018 Oct 17
Event12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 - Tsu, Japan
Duration: 2018 Sep 102018 Sep 12

Other

Other12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
CountryJapan
CityTsu
Period18/9/1018/9/12

Fingerprint

Position control
Robust control
Mobile robots
Extended Kalman filters
Angular velocity
Robots

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

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

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 proceedingConference 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
Shimada A. 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. Institute of Electrical and Electronics Engineers Inc. 2018. p. 312-315. 8495723 https://doi.org/10.1109/MECATRONICS.2018.8495723
Shimada, Akira. / Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation. Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 312-315
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