Abstract
This paper presents the results of modeling, sensor fusion and model verification for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The model derived for the robot describes the actuator and wheel dynamics and the vehicle kinematics, and includes friction terms as well as slip. An Unscented Kalman Filter (UKF) based on the dynamic model is used for sensor fusion, feeding sensor measurements back to the robot controller in an intelligent manner. Through practical experiments with the robot, the UKF is demonstrated to improve the reliability of the sensor signals significantly, and the model is seen to show surprisingly good agreement with the practical experiments.
Originalsprog | Engelsk |
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Titel | Proceedings of the 16th IASTED International Conference on Modelling and Simulation |
Antal sider | 6 |
Publikationsdato | 2005 |
Status | Udgivet - 2005 |
Begivenhed | IASTED International Conference on Modelling and Simulation - Cancun, Mozambique Varighed: 19 maj 2010 → … Konferencens nummer: 16th |
Konference
Konference | IASTED International Conference on Modelling and Simulation |
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Nummer | 16th |
Land/Område | Mozambique |
By | Cancun |
Periode | 19/05/2010 → … |