Chen, Ling and Hu, Huosheng and McDonald-Maier, Klaus (2012) EKF Based Mobile Robot Localization. In: 2012 Third International Conference on Emerging Security Technologies (EST), 2012-09-05 - 2012-09-07, Lisbon, Portugal.
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Abstract
Localization plays a significant role in the autonomous navigation of a mobile robot. This paper investigates mobile robot localization based on Extended Kalman Filter(EKF) algorithm and a feature based map. Corner angles in the environment are detected as the features, and the detailed processes of feature extraction are described. Then the motion model and odometry information are elaborated, and the EKF localization algorithm is presented. Finally, the experimental result is given to verify the feasibility and performance of the proposed localization algorithm.
Item Type: | Conference or Workshop Item (Paper) |
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Additional Information: | Published proceedings: 2012 Third International Conference on Emerging Security Technologies |
Uncontrolled Keywords: | EKF; localization; feature extraction; Odometry; motion model |
Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Elements |
Depositing User: | Elements |
Date Deposited: | 12 Jan 2015 13:47 |
Last Modified: | 15 Jan 2022 00:38 |
URI: | http://repository.essex.ac.uk/id/eprint/9203 |
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