LoboVault Home
 

Extended Kalman Filter Implementation for the Khepera II Mobile Robot

LoboVault

Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/7627

Extended Kalman Filter Implementation for the Khepera II Mobile Robot

Show simple item record

dc.contributor.author Otahal, Thomas J
dc.contributor.author Tanner, Herbert G
dc.date.accessioned 2009-01-21T15:40:43Z
dc.date.available 2009-01-21T15:40:43Z
dc.date.issued 2009-01-21T15:40:43Z
dc.identifier.uri http://hdl.handle.net/1928/7627
dc.description.abstract The accurate estimation of robot position and orientation in real-time is one of the fundamental challenges in mobile robotics. The Extended Kalman Filter is a nonlinear real-time recursive time domain filter that combines available sensor data to produce an accurate estimate of state, and has been successfully applied to the localization problem in mobile robotics and aircraft navigation. This report describes an Extended Kalman Filter implementa- tion for the Khepera II mobile robotics platform that seeks to produce accurate localization estimates in real-time using wheel odometry data, IR sensor range data, and compass heading data. en_US
dc.language.iso en_US en_US
dc.relation.ispartofseries ME-TR en_US
dc.relation.ispartofseries 08-001 en_US
dc.subject Mobile robots en_US
dc.subject localization en_US
dc.title Extended Kalman Filter Implementation for the Khepera II Mobile Robot en_US
dc.type Technical Report en_US


Files in this item

Files Size Format View
KheperaEKFReport2.pdf 229.8Kb PDF View/Open

This item appears in the following Collection(s)

Show simple item record

UNM Libraries

Search LoboVault


Advanced Search

Browse

My Account