An adaptive algorithm for position and linear velocity estimation of mobile robots using inertial sensors and omnidirectional vision
Refereed conference paper presented and published in conference proceedings

替代計量分析
.

其它資訊
摘要This paper presents a novel and effective method for estimating the position and linear velocity of a mobile robot in real-time in unknown environments by fusing visual information from an omnidirectional vision system with the measurements of an inertial sensor system. Based on a new projection model of the omnidirectional vision system, we propose a novel adaptive algorithm, similar to the Slotine-Li algorithm in model-based adaptive control, to estimate the position and linear velocity of the robot on-line using continuously tracked natural feature points in image sequence, the robot's acceleration, angular velocity and orientation measured by inertial sensor system. It is proven that our algorithm leads to global exponential convergence of the estimation errors of the robot's position and linear velocity to zero. Experiments demonstrate the performance of the proposed algorithm.
著者Li L., Liu Y.-H., Wang K.
會議名稱2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
會議開始日29.06.2014
會議完結日04.07.2014
會議地點Shenyang
會議國家/地區中國
詳細描述IEEE Roboitcs and Automation Society
出版年份2015
月份1
日期1
卷號2015-March
期次March
頁次952 - 957
語言英式英語
關鍵詞Localization, Mobile robots

上次更新時間 2020-19-11 於 00:20