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

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ312-315
ページ数4
ISBN(電子版)9781538629826
DOI
出版物ステータスPublished - 2018 10 17
イベント12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018 - Tsu, Japan
継続期間: 2018 9 102018 9 12

Other

Other12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018
Japan
Tsu
期間18/9/1018/9/12

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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  • これを引用

    Shimada, A. (2018). 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 (pp. 312-315). [8495723] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MECATRONICS.2018.8495723