Estimation of odometer parameters with MMAE and LSE

C. U. Dogruer

doi:10.1109/AIM.2014.6878333

Estimation of odometer parameters with MMAE and LSE

C. U. Dogruer

Division of Machine Theory and Dynamics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

Extended Kalman filter is used intensively to achieve optimal sensor fusion to estimate the states of plant. In general, parameters of sensor and plant models are inaccurate so biased and random errors are inevitable unless they are calibrated accurately. In this paper, biased parameters of plant are estimated with Multiple-Model-Adaptive-Estimation algorithm (MMAE) and Least Square Estimation (LSE). It is shown that proposed method can learn the parameters of a differential-drive mobile robot odometer e.g. scale factors of left and right wheel radii and distance between wheels, accurately.

Original language	English
Title of host publication	AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1728-1733
Number of pages	6
ISBN (Print)	9781479957361
DOIs	https://doi.org/10.1109/AIM.2014.6878333
Publication status	Published - 2014
Event	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France Duration: 8 Jul 2014 → 11 Jul 2014

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Country/Territory	France
City	Besancon
Period	8/07/14 → 11/07/14

Access to Document

10.1109/AIM.2014.6878333

Cite this

Dogruer, C. U. (2014). Estimation of odometer parameters with MMAE and LSE. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1728-1733). Article 6878333 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878333

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title = "Estimation of odometer parameters with MMAE and LSE",

abstract = "Extended Kalman filter is used intensively to achieve optimal sensor fusion to estimate the states of plant. In general, parameters of sensor and plant models are inaccurate so biased and random errors are inevitable unless they are calibrated accurately. In this paper, biased parameters of plant are estimated with Multiple-Model-Adaptive-Estimation algorithm (MMAE) and Least Square Estimation (LSE). It is shown that proposed method can learn the parameters of a differential-drive mobile robot odometer e.g. scale factors of left and right wheel radii and distance between wheels, accurately.",

author = "Dogruer, \{C. U.\}",

year = "2014",

doi = "10.1109/AIM.2014.6878333",

language = "English",

isbn = "9781479957361",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1728--1733",

booktitle = "AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

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note = "2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 ; Conference date: 08-07-2014 Through 11-07-2014",

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Dogruer, CU 2014, Estimation of odometer parameters with MMAE and LSE. in AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 6878333, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 1728-1733, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besancon, France, 8/07/14. https://doi.org/10.1109/AIM.2014.6878333

Estimation of odometer parameters with MMAE and LSE. / Dogruer, C. U.
AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1728-1733 6878333 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Estimation of odometer parameters with MMAE and LSE

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