A Bias Compensation Strategy for Wheeled Mobile Robot Odometric Self-localization Algorithm
文献类型：会议论文
| 作者 | Sheng Xu; YOngsheng Ou; Xinyu Wu; Wei feng |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | shenzhen |
| 英文摘要 | In service robot applications, the automated indoor mobile robot should be able to localize itself by the equipped sensor measurements. This paper is concerned with the wheeled mobile robot self-localization using the digital compass and photoelectrical encoder measurements. A traditional odometric localization algorithm is utilized and the bias analysis of this method is derived based on the statistic theory. Then, a low cost bias compensation strategy is developed to improve the estimation performance. Also, a classical extended Kalman filter (EKF) is applied as a comparison. The effectiveness of the proposed self-localization algorithm is verified with simulation examples. |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13833]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Sheng Xu,YOngsheng Ou,Xinyu Wu,et al. A Bias Compensation Strategy for Wheeled Mobile Robot Odometric Self-localization Algorithm[C]. 见:. shenzhen. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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