Sensor based robot localisation and navigation: Using interval analysis and Unscented Kalman filter

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 1, Issue , 2004, Pages 7-12

  Ashokaraj, Immanuel ^a   Tsourdos, Antonios ^a   Silson, Peter ^a   White, Brian A ^a  

^a CRANFIELD UNIVERSITY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; GYROSCOPES; KALMAN FILTERING; NAVIGATION; POSITION CONTROL; POSITION MEASUREMENT; SENSOR DATA FUSION; ULTRASONIC DEVICES;

INTERTIAL SENSORS (IS); ROBOT LOCALIZATION; ULTRASONIC SENSORS; UNSCENTED KALMAN FILTER (UKF);

MOBILE ROBOTS;

EID: 14044267642     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/iros.2004.1389321     Document Type: Conference Paper

References (12)

1. L. Jetto, S. Longhi, and G. Venturini, "Development and experimental validation of an adaptive extended kalman filter for the localization of mobile," IEEE Transactions on Robotics and Automation, vol. 15, no. 2, April 1999.
2. S. Clark, G. Dissanayake, P. Newman, and H. Durrant-Whyte, "A solution to simultaneous localisation and map building (slam) problem," IEEE Journal of Robotics and Automation, vol. 17, no. 3, June 2001.
3. J. Castellanos and J. Tardos, Mobile Robot Localisation and Map Building: A Multisensor Fusion Approach. Boston: Kluwer Ac. Pub., 1999.
4. M. Kieffer, L. Jaulin, O. Didrit, and E. Walter, "Robust autonomous robot localization using interval analysis," Reliable Computing, vol. 6, no. 3, p. 337 to 362, 2000.
5. L. Jaulin and E. Walter, "Set inversion via interval analysis for nonlinear bounded-error estimation," Automatica, vol. 29, no. 4, p. 1053 to 1064, 1993.
6. M. Kieffer, L. Jaulin, and E. Walter, "Guaranteed recursive nonlinear state estimation using interval analysis," Internal Report, Laboratoire des Signaux et Systemes, 1998.
7. L. Jaulin, M. Kieffer, O. Didrit, and E. Walter, Applied Interval Analysis with examples in parameter and state estimation robust control and robotics. London: Springer-Verlag, 2001.
8. J. Alexander and J. Maddocks, "On the kinematics of wheeled mobile robots," International Journal of robotics research, vol. 8, no. 5, p. 15 to 27, Oct 1989.
9. A. Alessandri, G. Bartolini, P. Pavanati, E. Punta, and A. Vinci, "An application of the extended kalman filter for integrated navigation in mobile robotics," American Control Conference, June 1997.
10. G. Chen and C. Chui, Kalman filtering with Real-Time Applications, 2nd ed. New York: Springer-Verlag, 1991.
11. S. Julier and J. Uhlmann, "A new extension of the kalman filter to nonlinear systems," In Proc. of Aerosense: The 11thInt. Symp. on Aerospace/Sensing, Simulation and Controls, 1997.
12. E. Wan and R. V. der Merwe, Kalman Filtering and Neural Networks, Chapter 7: The Unscented Kalman Filter. Wiley Publishing, 2001.