Determination of variance in measurement of relative angle between infrared beacon and scanner

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61388998%3A_____%2F11%3A00371805" target="_blank" >RIV/61388998:_____/11:00371805 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Determination of variance in measurement of relative angle between infrared beacon and scanner
Original language description
Mobile robot localization is one of essential components for successful robot navigation. Localization techniques based on active landmarks commonly utilize probabilistic state estimation methods, e.g. Extended Kalman filter (EKF). In order to function properly, determination of process and measurement noise variances is essential in EKF. This paper is focused on determination of variance in measurement of relative angle between the active landmark, represented by infrared beacon and device positioned on the robot, beacon scanner. Variance values are determined in a number of environment conditions. The results indicate that for the beacon type used the variance essentially holds with the percentage of unsuccessful readings being the only variable effected by changing environment. This observation justifies the usage of measured variances in EKF based localization system.
Czech name
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Czech description
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Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
International Conference 6th Advances in Mechatronics 2011
ISBN
978-80-7231-848-3
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
15-20
Publisher name
Faculty of Military Technology, University of Defence, Brno
Place of publication
Brno
Event location
Brno
Event date
Dec 7, 2011
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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