Loading [a11y]/accessibility-menu.js
Simultaneous pedestrian and multiple mobile robots localization using distributed extended Kalman filter | IEEE Conference Publication | IEEE Xplore

Simultaneous pedestrian and multiple mobile robots localization using distributed extended Kalman filter


Abstract:

This paper is concerned with distributed extended Kalman filtering (DEKF) for simultaneous pedestrian and multiple mobile robots localization. Here, extended Kalman filte...Show More

Abstract:

This paper is concerned with distributed extended Kalman filtering (DEKF) for simultaneous pedestrian and multiple mobile robots localization. Here, extended Kalman filter (EKF) is applied to the multiple robots for the pedestrian localization. The estimate from each robot is fused by distributed algorithm to improve the accuracy. Furthermore, we used multiple robots formation control to keep a triangle formation at the same time. The focus of this paper is to investigate the effect of the proposed algorithm on simultaneous localization accuracy. A Monte Carlo simulation result is presented to demonstrate the efficiency in localization accuracy of the distributed fusion of EKFs.
Date of Conference: 22-25 February 2009
Date Added to IEEE Xplore: 08 May 2009
ISBN Information:
Conference Location: Bangkok, Thailand

References

References is not available for this document.