Dynamic location of a mobile robot by extended Kalman filtering

摘要

The goal of the work described is to provide an estimation algorithm of the dynamics of a mobile robot. The measured variables are the control laws of the motors and the angles between the robot principal axis and a lot of fixed beacons, given by a rotative onboard camera. The specific problems are of several types: the motion of the robot is described by a continuous-time nonlinear equation. The measures are uncadenced and nonlinear (angles). The state of the robot is not observable by a single measure. So a specific continuous/discrete-time extended Kalman filter with measurement reconstruction is developed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>