MULTIPLE MODEL ADAPTIVE EXTENDED KALMAN FILTER FOR THE ROBUST LOCALIZATION OF A MOBILE ROBOT

Y. Touati, Y. Amirat, Z. Djama, A. Ali Chérif

Abstract

This paper focuses on robust pose estimation for mobile robot localization. The main idea of the approach proposed here is to consider the localization process as a hybrid process which evolves according to a model among a set of models with jumps between these models according to a Markov chain. In order to improve the robustness of the localization process, an on line adaptive estimation approach of noise statistics (state and observation), is applied for each mode. To demonstrate the validity of the proposed approach and to show its effectiveness, we’ve compared it to the standard approaches. For this purpose, simulations were carried out to analyze the performances of each approach in various scenarios.

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Paper Citation


in Harvard Style

Touati Y., Amirat Y., Djama Z. and Ali Chérif A. (2007). MULTIPLE MODEL ADAPTIVE EXTENDED KALMAN FILTER FOR THE ROBUST LOCALIZATION OF A MOBILE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 446-454. DOI: 10.5220/0001633704460454


in Bibtex Style

@conference{icinco07,
author={Y. Touati and Y. Amirat and Z. Djama and A. Ali Chérif},
title={MULTIPLE MODEL ADAPTIVE EXTENDED KALMAN FILTER FOR THE ROBUST LOCALIZATION OF A MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={446-454},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001633704460454},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MULTIPLE MODEL ADAPTIVE EXTENDED KALMAN FILTER FOR THE ROBUST LOCALIZATION OF A MOBILE ROBOT
SN - 978-972-8865-83-2
AU - Touati Y.
AU - Amirat Y.
AU - Djama Z.
AU - Ali Chérif A.
PY - 2007
SP - 446
EP - 454
DO - 10.5220/0001633704460454