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A Method to Locate the Position of Mobile Robot Using Extended Kalman Filter

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Computational Intelligence and Security (CIS 2005)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3801))

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Abstract

A method to estimate long distance navigation of a mobile robot is proposed. The method uses the dead reckoning,sonar and infrared sensors to detect the landmarks. A corridor environment with equal spaced convex edges is applied as the mobile robot’s moving space and the convex edges are used as landmarks for the robot mounted with the combined sensor system to estimate its position. The robot detects the convex edges using combined sensor system, and navigates in this corridor by using the information obtained from dead reckoning and combined sensor system based on the Extended Kalman. Experiment result show the effectiveness of the method.

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Author information

Authors and Affiliations

  1. School of Science, Xi’an Jiaotong University, 710049, Xi’an, Shaanxi, P.R. China

    Ping Wei & Chengxian Xu

  2. Tohoku University, Sendai, Japan

    Fengji Zhao

Authors
  1. Ping Wei
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  2. Chengxian Xu
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  3. Fengji Zhao
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Editor information

Editors and Affiliations

  1. Microelectronic Instiute, Xidian University, 710071, Xi’an, China

    Yue Hao

  2. Department of Computer Science, Hong Kong Baptist University, Kowloon Tong, Hong Kong

    Jiming Liu

  3. School of Computer Science and Technology, Xidian University, Xi’an, China

    Yuping Wang

  4. Department of Computer Science, Hong Kong Baptist University, Hong Kong,  

    Yiu-ming Cheung

  5. School of Electrical and Electronic Engineering, University of Manchester, UK

    Hujun Yin

  6. Life Science Research Center, School of Electronic Engineering, Xidian University, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  7. Key Laboratory of Computer Networks and Information Security (Ministry of Education), Xidian University, 710071, Xi’an, China

    Jianfeng Ma

  8. National Laboratory of Antennas and Microwave Technology, Xidian University, 710071, Xi’an, Shanxi, P.R. China

    Yong-Chang Jiao

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© 2005 Springer-Verlag Berlin Heidelberg

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Wei, P., Xu, C., Zhao, F. (2005). A Method to Locate the Position of Mobile Robot Using Extended Kalman Filter. In: Hao, Y., et al. Computational Intelligence and Security. CIS 2005. Lecture Notes in Computer Science(), vol 3801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11596448_120

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  • DOI: https://doi.org/10.1007/11596448_120

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-30818-8

  • Online ISBN: 978-3-540-31599-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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