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EKF based mobile robot localization

Chen, L and Hu, H and McDonald-Maier, K (2012) EKF based mobile robot localization. In: UNSPECIFIED, ? - ?.

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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. © 2012 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings - 3rd International Conference on Emerging Security Technologies, EST 2012
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 12 Jan 2015 13:47
Last Modified: 17 Aug 2017 17:52
URI: http://repository.essex.ac.uk/id/eprint/9203

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