Abstract
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) |
---|---|
Pages (from-to) | 1979-1986 |
Number of pages | 8 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 3 |
State | Published - Jan 1 1999 |