Conference paper
Location Estimation using Delayed Measurements
Department of Automation, Technical University of Denmark1
Department of Informatics and Mathematical Modeling, Technical University of Denmark2
Automation and Control, Department of Electrical Engineering, Technical University of Denmark3
Department of Electrical Engineering, Technical University of Denmark4
Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark5
When combining data from various sensors it is vital to acknowledge possible measurement delays. Furthermore, the sensor fusion algorithm, often a Kalman filter, should be modified in order to handle the delay. The paper examines different possibilities for handling delays and applies a new technique to a sensor fusion system for estimating the location of an autonomous guided vehicle.
The system fuses encoder and vision measurements in an extended Kalman filter. Results from experiments in a real environment are reported
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 1998 |
| Pages: | 180-185 |
| Proceedings: | International Workshop on Advanced Motion Control, AMC '98 |
| ISBN: | 0780344847 and 9780780344846 |
| Types: | Conference paper |
| DOI: | 10.1109/AMC.1998.743533 |
| ORCIDs: | Andersen, Nils Axel , Poulsen, Niels Kjølstad and Ravn, Ole |
CCD image sensors Delay effects Delay estimation Equations Kalman filters Laboratories Mobile robots Remotely operated vehicles Sampling methods Sensor fusion Sensor systems State estimation autonomous guided vehicle delayed measurements delays distance measurement encoder measurements extended Kalman filter location estimation measurement delays mobile robots motion control nonlinear filters robot vision sensor fusion state estimation vision measurements
