Mobile robot localization with gyroscope and constrained Kalman filter

The odometry information used in mobile robot localization can contain a significant number of errors when robot experiences slippage. To offset the presence of these errors, the use of a low-cost gyroscope in conjunction with Kalman filtering methods has been considered by many researchers. However...

Full description

Saved in:
Bibliographic Details
Published in:International journal of control, automation, and systems 2010, Automation, and Systems, 8(3), , pp.667-676
Main Authors: Myung, Hyun, Lee, Hyoung-Ki, Choi, Kiwan, Bang, Seokwon
Format: Article
Language:English
Subjects:
Constraints
Control
Engineering
Errors
Estimates
Gyroscopes
Kalman filtering
Localization
Mechatronics
Methods
Noise
Offsets
Optimization techniques
Parameter estimation
Position (location)
Robotics
Robots
Technical Notes and Correspondence
제어계측공학
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The odometry information used in mobile robot localization can contain a significant number of errors when robot experiences slippage. To offset the presence of these errors, the use of a low-cost gyroscope in conjunction with Kalman filtering methods has been considered by many researchers. However, results from conventional Kalman filtering methods that use a gyroscope with odometry can unfeasible because the parameters are estimated regardless of the physical constraints of the robot. In this paper, a novel constrained Kalman filtering method is proposed that estimates the parameters under the physical constraints using a general constrained optimization technique. The state observability is improved by additional state variables and the accuracy is also improved through the use of a nonapproximated Kalman filter design. Experimental results show that the proposed method effectively offsets the localization error while yielding feasible parameter estimation.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-010-0321-6