Two-dimensional localization using nonlinear Kalman approaches

Gregory Robert Hudas; Ka. C. Cheok; James L. Overholt; G. Edzko Smid

doi:10.1117/12.571578

29 December 2004 Two-dimensional localization using nonlinear Kalman approaches

Gregory Robert Hudas, Ka. C. Cheok, James L. Overholt, G. Edzko Smid

Proceedings Volume 5609, Mobile Robots XVII; (2004) https://doi.org/10.1117/12.571578
Event: Optics East, 2004, Philadelphia, Pennsylvania, United States

Abstract

We present two methods for a localization system, defined as the "angle of arrival" scheme, which computes position and heading of an autonomous vehicle system (AVS) fusing both odometry data and the measurements of the relative azimuth angles of known landmarks (in this case, reflectors of a stabilized laser/reflector system). The first method involves a combination of a geometric transformation and a recursive least squares approach with forgetting factor. The second method presented is a direct approach using variants of the Unscented Kalman filter. Both methods are examined in simulation and the results presented.

Citation Download Citation

Gregory Robert Hudas, Ka. C. Cheok, James L. Overholt, and G. Edzko Smid "Two-dimensional localization using nonlinear Kalman approaches", Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); https://doi.org/10.1117/12.571578

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