The mobile robot localization problem is decomposed into two stages: attitude estimation followed by position estimation. The innovation of this method is the use of a smoother, in the attitude estimation loop that outperforms other Kalman filter based techniques in estimate accuracy. This method is tested in simulation and the overall improvement in position estimation is demonstrated.
|Original language||English (US)|
|Number of pages||8|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 1999|