MOBILE ROBOT LOCALIZATION USING LINEAR SYSTEM MODEL

Xu Zezhong; Liu Jilin

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Paper

MOBILE ROBOT LOCALIZATION USING LINEAR SYSTEM MODEL

Topics: Mobile Robots and Autonomous Systems; Modeling, Simulation and Architectures

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 243-248, 2004 , Setúbal, Portugal

Authors: Xu Zezhong ¹ and Liu Jilin ²

Affiliations: ¹ Zhejiang University; Hangzhou Institute of Electronic Engineering, China ; ² Zhejiang University, China

Keyword(s): Mobile robot localization, Nonlinear state estimation, Extended Kalman filter, Linearization error.

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

Abstract: Localization is a fundamental problem for mobile robot autonomous navigation. EKF is an efficient tool for position estimation, but it suffers from linearization errors due to linear approximation of nonlinear system equations. In this paper we describe a position estimation method for mobile robot. Process and measurement equations are linear by appropriately constructing the state vector and system models. The position of mobile robot is estimated recursively based on optimal KF. It avoids linear approximation of nonlinear system equations and is free of linearization error. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser rangefinder SICK.

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Paper citation in several formats:

Zezhong, X. and Jilin, L. (2004). MOBILE ROBOT LOCALIZATION USING LINEAR SYSTEM MODEL. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 243-248. DOI: 10.5220/0001136202430248

@conference{icinco04,
author={Xu Zezhong. and Liu Jilin.},
title={MOBILE ROBOT LOCALIZATION USING LINEAR SYSTEM MODEL},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={243-248},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001136202430248},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - MOBILE ROBOT LOCALIZATION USING LINEAR SYSTEM MODEL
SN - 972-8865-12-0
IS - 2184-2809
AU - Zezhong, X.
AU - Jilin, L.
PY - 2004
SP - 243
EP - 248
DO - 10.5220/0001136202430248
PB - SciTePress