A fuzzy extended Kalman filter for mobile robot localization in high amount of measurement noise

Shahgholian, Mahsa; Tahmasebi, Sanaz; Khaloozadeh, Hamid

doi:10.1109/iccicct.2016.7987969

Search citation statements

Order By: Relevance

Paper Sections

Select...

Problem Formulation1

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2019

Publication Types

Select...

Article1

Other1

Relationship

Self Cite0

Independent2

Authors

Journals

Cited by 2 publications

(1 citation statement)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…When the laser range finders are applied, the localization accuracy of the system cannot be high because of environmental noise, mechanical vibration, or system error. 37,38 Particularly, the localization accuracy is greatly affected by environmental noise.…”

Section: Problem Formulationmentioning

confidence: 99%

Improvement of localization with artificial landmark for mobile manipulator

Guo

Yan

Song

et al. 2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

A method is presented for improving the localization accuracy of a mobile manipulator. The system consists of an industrial manipulator mounted on a mobile platform to perform fuselage drilling/riveting tasks in indoor environment. The localization is based on dual laser range finders mounted on the system and a number of artificial landmarks preset in the environment. Localization based on trilateration method is presented in this study. The adaptive unscented Kalman filter method is used to improve the accuracy of localization as well. The proposed method has been verified through experiments and the localization accuracy of mobile manipulator can be improved to 8 mm in most cases.

show abstract

Section: Problem Formulationmentioning

confidence: 99%