Extended kalman filter sensor fusion and application to mobile robot [Genişletilmiş Kalman Filtresi İle Algilayici Tümleştirilmesi Ve Gezer Robotlara Uygulamasi]

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dc.contributor.authorCanan, Süleyman
dc.contributor.authorAkkaya, Ramazan
dc.contributor.authorErgintav, Semih
dc.date.accessioned2020-03-26T16:55:41Z
dc.date.available2020-03-26T16:55:41Z
dc.date.issued2004
dc.departmentSelçuk Üniversitesien_US
dc.descriptionIEEE;TUBITAK;Istanbul Teknik Universitesi;aselsan;Profilo Telr@en_US
dc.descriptionProceedings of the IEEE 12th Signal Processing and Communications Applications Conference, SIU 2004 -- 28 April 2004 through 30 April 2004 -- Kusadasi -- 64722en_US
dc.description.abstractThe main problem in mobile robot is the error accumulation in its position in continuous navigation. In this study the localization of the mobile robot is done with gyroscope and odometric sensors by using the dead-reckoning method. To estimate precise and correct position the dead-reckoning system should be aided by an external absolute positioning sensor. The continuous error accumulation in dead reckoning should be reseted, the position and direction state variables must be updated with an absolute sensor positioning data. The GPS (Global Positioning System) system, which is an absolute positioning system, is used in complement with the dead reckoning system to estimate precise and correct positioning data. The extended Kalman Filter is used for sensor fusion purposes. The Kalman Filter has the ability to make an optimal estimate of the state variable when the data is immerged in white noise. To implement the algorithm, the mobile robot kinematic model was obtained. The kinematic model of the robot is in non-linear nature. Thus the model is linearized in order to use with the Kalman Filter algorithm. Finally the data obtain from the two different navigation system is perfectly fused and showed with computer simulations. © 2004 IEEE.en_US
dc.identifier.endpage774en_US
dc.identifier.isbn0780383184; 9780780383180
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage771en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12395/19299
dc.indekslendigikaynakScopusen_US
dc.language.isotren_US
dc.relation.ispartofProceedings of the IEEE 12th Signal Processing and Communications Applications Conference, SIU 2004en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.titleExtended kalman filter sensor fusion and application to mobile robot [Genişletilmiş Kalman Filtresi İle Algilayici Tümleştirilmesi Ve Gezer Robotlara Uygulamasi]en_US
dc.typeConference Objecten_US

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