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

Niramon Ruangpayoongsak; Hubert Roth; Robert Mayr

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Paper

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

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 367-372, 2005 , Barcelona, Spain

Authors: Niramon Ruangpayoongsak ; Hubert Roth and Robert Mayr

Affiliation: Institute of Automatic Control Engineering, University of Siegen, Germany

Keyword(s): Localization, Mobile robotics, Kalman filter, Dynamic model.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

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Paper citation in several formats:

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 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 367-372. DOI: 10.5220/0001176803670372

@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 3: ICINCO},
year={2005},
pages={367-372},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001176803670372},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - LOCALIZATION FOR A CAR-LIKE MOBILE ROBOT USING NONLINEAR DYNAMIC MODEL
SN - 972-8865-30-9
IS - 2184-2809
AU - Ruangpayoongsak, N.
AU - Roth, H.
AU - Mayr, R.
PY - 2005
SP - 367
EP - 372
DO - 10.5220/0001176803670372
PB - SciTePress