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	A Bias Compensation Strategy for Wheeled Mobile Robot Odometric Self-localization Algorithm
	Sheng Xu; YOngsheng Ou; Xinyu Wu; Wei feng
	2018
会议日期	2018
会议地点	shenzhen
英文摘要	In service robot applications, the automated indoor mobile robot should be able to localize itself by the equipped sensor measurements. This paper is concerned with the wheeled mobile robot self-localization using the digital compass and photoelectrical encoder measurements. A traditional odometric localization algorithm is utilized and the bias analysis of this method is derived based on the statistic theory. Then, a low cost bias compensation strategy is developed to improve the estimation performance. Also, a classical extended Kalman filter (EKF) is applied as a comparison. The effectiveness of the proposed self-localization algorithm is verified with simulation examples.
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13833]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Sheng Xu,YOngsheng Ou,Xinyu Wu,et al. A Bias Compensation Strategy for Wheeled Mobile Robot Odometric Self-localization Algorithm[C]. 见:. shenzhen. 2018.

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