Using Kalmtool in Navigation of Mobile Robots |
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| Abstract | This paper presents an application of a simulation platform for sensor fusion in mobile robotics. The platform is based on the Kalmtool toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as several other state of the art filters. Two robotic platforms are considered, a Medium-size Mobile Robot and a Hako tractor. The system models for the vehicles are derived and by using Kalmtool suitable filter coeficients are found. The paper presents sensor fusion results from several runs of real life data based on odometry and GPS. |
| Keywords | Autonmous systems, Kalman filter, Rbobotics |
| Type | Technical report |
| Year | 2007 pp. 20 |
| Publisher | Informatics and Mathematical Modelling, Technical University of Denmark, DTU |
| Address | Richard Petersens Plads, Building 321, DK-2800 Kgs. Lyngby |
| Series | IMM-Technical Report-2007-16 |
| Electronic version(s) | [pdf] |
| BibTeX data | [bibtex] |
| IMM Group(s) | Mathematical Statistics |