Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT

2012 ◽  
Vol 55 (1) ◽  
pp. 135-144 ◽  
Author(s):  
Miguel Pinto ◽  
António Paulo Moreira ◽  
Aníbal Matos
Keyword(s):  
Kalman Filter ◽  
Mobile Robots ◽  
Extended Kalman Filter

A Localization Algorithm for Autonomous Mobile Robots via a Fuzzy Tuned Extended Kalman Filter

2010 ◽  
Vol 24 (1-2) ◽  
pp. 179-206 ◽  
Author(s):  
Y. L. Ip ◽  
A. B. Rad ◽  
Y. K. Wong ◽  
Y. Liu ◽  
X. M. Ren
Keyword(s):  
Kalman Filter ◽  
Mobile Robots ◽  
Extended Kalman Filter ◽  
Autonomous Mobile Robots ◽  
Localization Algorithm

Odometry in Cooperative Multi-Mobile Robots

1999 ◽  
Vol 11 (5) ◽  
pp. 411-416
Author(s):  
Masafumi Hashimoto ◽  
◽  
Takanori Kurazumi ◽  
Fuminori Oba ◽  
Keyword(s):  
Kalman Filter ◽  
Mobile Robots ◽  
Extended Kalman Filter ◽  
Position Sensor ◽  
Location Errors ◽  
Exchange Information ◽  
Sensor Information

We propose odometry in cooperative multi-mobile robots by integrating conventional odometry and interrobot position sensor information. In our odometry, each robot is considered a moving landmark with imprecise location. Robots in the group locally estimate their own absolute positions based on conventional odometry and find the relative positions of each other using interrobot position sensors. They communicate and exchange information on local estimates and relative positions. The information is integrated decentralized based on the extended Kalman filter and robots improve their absolute positions. Simulation and experiments show that our odometry eliminates large robot location errors found in conventional odometry.

A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots

2008 ◽  
Vol 56 (1) ◽  
pp. 41-50 ◽  
Author(s):  
Vanderlei Bonato ◽  
Eduardo Marques ◽  
George A. Constantinides
Keyword(s):  
Kalman Filter ◽  
Mobile Robots ◽  
Extended Kalman Filter ◽  
Autonomous Mobile Robots ◽  
Floating Point
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