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

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JB - Senzory, čidla, měření a regulace

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

International Conference 6th Advances in Mechatronics 2011

ISBN

978-80-7231-848-3

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

15-20

Název nakladatele

Faculty of Military Technology, University of Defence, Brno

Místo vydání

Brno

Místo konání akce

Brno

Datum konání akce

7. 12. 2011

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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