Mobile Robot Navigation Error Handling Using an Extended Kalman Filter

سال انتشار: 1389
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 336

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شناسه ملی سند علمی:

JR_JACR-1-1_007

تاریخ نمایه سازی: 15 شهریور 1395

چکیده مقاله:

Obviously navigation is one of the most complicated issues in mobile robots.Intelligent algorithms are often used for error handling in robot navigation. ThisPaper deals with the problem of Inertial Measurement Unit (IMU) error handling byusing Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put onthe field of mobile robot navigation in the 2D environments. The main challenge inthis issue is to keep track of the position and orientation within a global frame ofreference using a variety of sensors providing Dead-Reckoned Odometry, Inertialand Absolute data.

نویسندگان

Aydin Saderzadeh

Mechatronics Research Lab Faculty of Electronic, Computer Engineering& IT Islamic Azad university, Qazvin Branch Qazvin, Iran

M.Mehdi Sanaatiyan

Mechatronics Research Lab Faculty of Electronic, Computer Engineering& IT Islamic Azad university, Qazvin ranch Qazvin, Iran

M Habbibnejad Korayen

Faculty ofMechanic Engineering Iran University of Science and Technology Tehran-Iran

Ali Shahri

Faculty of Electronic Engineering Iran University of Science and Technology Tehran-Iran