대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2006년도 하계종합학술대회
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- Pages.1005-1006
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- 2006
변형된 칼만 필터를 이용한 이동 로봇의 위치 추정
Position estimation of mobile robot using modified kalman filter
- Kang, Seon-Ho (Department of Electronic Engineering, Dongguk University) ;
- Jung, Kyung-Kwon (Department of Electronic Engineering, Dongguk University) ;
- Lee, Yong-Gu (Department of Medical Instrument and Information, Hallym College) ;
- Eom, Ki-Hwan (Department of Electronic Engineering, Dongguk University)
- 발행 : 2006.06.21
초록
This paper proposes a method of position estimating through compensating the autonomous mobile robot's noise. Proposed method is that estimated position error by modified Kalman filter method using neural network. We use a neural network for measurement noise covariance and system noise covariance. In order to verify the effectiveness of the proposed method, we performed experiments for position estimation. The results show that convergence and position error is reduced than the Kalman filter method.
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