Název: Determination of variance in measurement of relative angle between infrared beacon and scanner
Autoři: Krejsa, Jiří ; Růžička, M. ; Vojta, J.
Typ dokumentu: Příspěvky z konference
Konference/Akce: International Conference Advances in Mechatronics 2011 /6./, Brno (CZ), 2011-12-07 / 2011-12-09
Rok: 2011
Jazyk: eng
Abstrakt: Mobile robot localization is one of essential components for successful robot navigation. Localization techniques based on active landmarks commonly utilize probabilistic state estimation methods, e.g. Extended Kalman filter (EKF). In order to function properly, determination of process and measurement noise variances is essential in EKF. This paper is focused on determination of variance in measurement of relative angle between the active landmark, represented by infrared beacon and device positioned on the robot, beacon scanner. Variance values are determined in a number of environment conditions. The results indicate that for the beacon type used the variance essentially holds with the percentage of unsuccessful readings being the only variable effected by changing environment. This observation justifies the usage of measured variances in EKF based localization system.
Klíčová slova: autonomous mobile robot; extended Kalman filter; mobile robot localization
Číslo projektu: CEZ:AV0Z20760514 (CEP)
Zdrojový dokument: International Conference 6th Advances in Mechatronics 2011, ISBN 978-80-7231-848-3

Instituce: Ústav termomechaniky AV ČR (web)
Informace o dostupnosti dokumentu: Dokument je dostupný v příslušném ústavu Akademie věd ČR.
Původní záznam: http://hdl.handle.net/11104/0205238

Trvalý odkaz NUŠL: http://www.nusl.cz/ntk/nusl-85036


Záznam je zařazen do těchto sbírek:
Věda a výzkum > AV ČR > Ústav termomechaniky
Konferenční materiály > Příspěvky z konference