Improving Tightly LiDAR/Compass/Encoder-Integrated Mobile Robot Localization with Uncertain Sampling Period Utilizing EFIR Filter

An Introduction to Multimedia Technology and Enhanced Learning

“…Then, the second section of this issue includes the other five papers, which focuses on the enhanced learning methods using in real application, such as forecast, localization, as well as various kinds of applilcations [11][12][13][14][15].…”

Range-Only UWB SLAM for Indoor Robot Localization Employing Multi-Interval EFIR Rauch-Tung-Striebel Smoother

“…The RNs are pre-positioned on static coordinates, and the BN is fixed on the robot. When the UWB localization system works, BN is used to collect the ranges d U i , i ∈ [1,4] from i th RN to BN. Then, the ranges d U i , i ∈ [1,4] are input to the multi-interval EFIR Rauch-Tung-Striebel (ERTS) smoother, which used as the data fusion filter in this work.…”

“…When the UWB localization system works, BN is used to collect the ranges d U i , i ∈ [1,4] from i th RN to BN. Then, the ranges d U i , i ∈ [1,4] are input to the multi-interval EFIR Rauch-Tung-Striebel (ERTS) smoother, which used as the data fusion filter in this work. Finally, the multi-interval ERTSS provides the mobile robot's position Po.…”

“…where (x i , y i ), i ∈ [1,4] denotes the i th UWB RN's position, the vector of the mobile robot is shown as the follows:…”

“…In recent years, the mobile robots have been widely used in the medical field [1,2]. Especially affected by the COVID-19 more and more jobs in hospitals require mobile robots to replace doctors, which provides the demand for indoor localization of mobile robots in indoor environment.…”