LOCALIZATION FOR A CAR-LIKE MOBILE ROBOT USING NONLINEAR DYNAMIC MODEL

Niramon Ruangpayoongsak, Hubert Roth, Robert Mayr

Abstract

The problem of localization is well known in mobile robotics. A solution is to use a model-based technique such as a kalman filter with multi sensor data fusion. For a car-like mobile robot, the nonlinear dynamic model is suitable for robot movement representation. This work presents the discrete extended kalman filter including a nonlinear dynamic model for the mobile robot localization. As inputs for the kalman filtering, gyroscope and compass sensors provide the relative and absolute yaw angles. The experiments are performed on several path types and the averages of the final position errors and the final heading errors are proposed.

References

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Paper Citation


in Harvard Style

Ruangpayoongsak N., Roth H. and Mayr R. (2005). LOCALIZATION FOR A CAR-LIKE MOBILE ROBOT USING NONLINEAR DYNAMIC MODEL . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 367-372. DOI: 10.5220/0001176803670372


in Bibtex Style

@conference{icinco05,
author={Niramon Ruangpayoongsak and Hubert Roth and Robert Mayr},
title={LOCALIZATION FOR A CAR-LIKE MOBILE ROBOT USING NONLINEAR DYNAMIC MODEL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={367-372},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001176803670372},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - LOCALIZATION FOR A CAR-LIKE MOBILE ROBOT USING NONLINEAR DYNAMIC MODEL
SN - 972-8865-30-9
AU - Ruangpayoongsak N.
AU - Roth H.
AU - Mayr R.
PY - 2005
SP - 367
EP - 372
DO - 10.5220/0001176803670372