Advanced relative localization algorithm robust to systematic odometry errors

Won Sang Ra, Ick Ho Whang, Hye Jin Lee, Jin Bae Park, Tae Sung Yoon

Research output: Contribution to journalArticle

Abstract

In this paper, a novel localization algorithm robust to the unmodeled systematic odometry errors is proposed for low-cost non-holonomic mobile robots. It is well known that the most pose estimators using odometry measurements cannot avoid the performance degradation due to the dead-reckoning of systematic odometry errors. As a remedy for this problem, we try to reflect the wheelbase error in the robot motion model as a parametric uncertainty. Applying the Krein space estimation theory for the discretetime uncertain nonlinear motion model results in the extended robust Kalman filter. This idea comes from the fact that systematic odometry errors might be regarded as the parametric uncertainties satisfying the sum quadratic constrains (SQCs). The advantage of the proposed methodology is that it has the same recursive structure as the conventional extended Kalman filter, which makes our scheme suitable for real-time applications. Moreover, it guarantees the satisfactory localization performance even in the presence of wheelbase uncertainty which is hard to model or estimate but often arises from real driving environments. The computer simulations will be given to demonstrate the robustness of the suggested localization algorithm.

Original languageEnglish
Pages (from-to)931-938
Number of pages8
JournalJournal of Institute of Control, Robotics and Systems
Volume14
Issue number9
DOIs
Publication statusPublished - 2008 Sep 1

Fingerprint

Systematic Error
Robust Algorithm
Systematic errors
Parametric Uncertainty
Kalman Filter
Dead Reckoning
Krein Space
Estimation Theory
Motion
Nonholonomic
Extended Kalman filters
Kalman filters
Mobile Robot
Mobile robots
Discrete-time
Degradation
Computer Simulation
Robot
Model
Robots

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Cite this

Ra, Won Sang ; Whang, Ick Ho ; Lee, Hye Jin ; Park, Jin Bae ; Yoon, Tae Sung. / Advanced relative localization algorithm robust to systematic odometry errors. In: Journal of Institute of Control, Robotics and Systems. 2008 ; Vol. 14, No. 9. pp. 931-938.
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Advanced relative localization algorithm robust to systematic odometry errors. / Ra, Won Sang; Whang, Ick Ho; Lee, Hye Jin; Park, Jin Bae; Yoon, Tae Sung.

In: Journal of Institute of Control, Robotics and Systems, Vol. 14, No. 9, 01.09.2008, p. 931-938.

Research output: Contribution to journalArticle

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