scholarly journals Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots

2017 ◽  
Author(s):  
Simona Nobili ◽  
Marco Camurri ◽  
Victor Barasuol ◽  
Michele Focchi ◽  
Darwin Caldwell ◽  
...  
Keyword(s):  
State Estimation ◽  
Sensor Fusion ◽  
Legged Robots

Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

2020 ◽  
Vol 10 (1) ◽  
pp. 1-17
Author(s):  
Rufus Fraanje ◽  
René Beltman ◽  
Fidelis Theinert ◽  
Michiel van Osch ◽  
Teade Punter ◽  
...  
Keyword(s):  
State Estimation ◽  
Sensor Fusion ◽  
Simulation Experiment ◽  
Estimation Problem ◽  
Unknown Input ◽  
Fusion Algorithm ◽  
Process Noise ◽  
Distance Measurements ◽  
Differential Drive ◽  
Filter Solution

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass, and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.

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