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 |