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http://dx.doi.org/10.5302/J.ICROS.2008.14.8.779

Online Dynamic Modeling of Ubiquitous Sensor based Embedded Robot Systems using Kalman Filter Algorithm  

Cho, Hyun-Cheol (동아대학교 전기공학과 포닥연구원)
Lee, Jin-Woo (동아대학교 전기공학과 포닥연구원)
Lee, Young-Jin (한국폴리텍 항공대학 항공전기과)
Lee, Kwon-Soon (동아대학교 전기공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.8, 2008 , pp. 779-784 More about this Journal
Abstract
This paper presents Kalman filter based system modeling algorithm for autonomous robot systems. State of the robot system is measured using embedded sensor systems and then carried to a host computer via ubiquitous sensor network (USN). We settle a linear state-space motion equation for unknown robot system dynamics and modify a popular Kalman filter algorithm in deriving suitable parameter estimation mechanism. To represent time-delay nature due to network media in system modeling, we construct an augmented state-space model which is mainly composed of original state and estimated parameter vectors. We conduct real-time experiment to test our proposed estimation algorithm where speed state of the constructed robot is used as system observation.
Keywords
autonomous robot; ubiquitous sensor network; time delay; Kalman filter; system modeling; network based system monitoring;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 1
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