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Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

Rufus Fraanje, René Beltman, Fidelis Theinert, Michiel van Osch, Teade Punter, John Bolte
Copyright: © 2020 |Volume: 10 |Issue: 1 |Pages: 17
ISSN: 2642-1577|EISSN: 2642-1585|EISBN13: 9781799809272|DOI: 10.4018/IJAIML.2020010101
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MLA

Fraanje, Rufus, et al. "Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots." IJAIML vol.10, no.1 2020: pp.1-17. http://doi.org/10.4018/IJAIML.2020010101

APA

Fraanje, R., Beltman, R., Theinert, F., van Osch, M., Punter, T., & Bolte, J. (2020). Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots. International Journal of Artificial Intelligence and Machine Learning (IJAIML), 10(1), 1-17. http://doi.org/10.4018/IJAIML.2020010101

Chicago

Fraanje, Rufus, et al. "Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots," International Journal of Artificial Intelligence and Machine Learning (IJAIML) 10, no.1: 1-17. http://doi.org/10.4018/IJAIML.2020010101

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Abstract

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass, and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.