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http://dx.doi.org/10.3795/KSME-A.2009.33.5.455

A Study on Development of a Reconfigurable Mobile Robot and Dead-Reckoning Using Extended Kalman Filter  

Kang, Bong-Soo (한남대학교 기계공학과)
Yeo, Gee-Hwan (삼성전자)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.33, no.5, 2009 , pp. 455-462 More about this Journal
Abstract
This paper presents design concepts of a reconfigurable mobile robot for both of indoor and outdoor applications. A linkage mechanism and wheel-in-motors give the proposed mobile robot various driving modes in maneuver and good adaptability to irregular surface. Since the mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to the position and the orientation of the mobile robot are optimally estimated by an extended Kalman filter. Simulations and experimental results show that the performance of dead reckoning on estimating the pose of a mobile robot can be improved remarkably by the optimal state observer.
Keywords
Reconfigurable; Mobile Robot; Adaptability; Extended Kalman Filter; Dead Reckoning;
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