TY - GEN
T1 - Estimation of odometer parameters with MMAE and LSE
AU - Dogruer, C. U.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84906659222
UR - https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=performanshacettepe&SrcAuth=WosAPI&KeyUT=WOS:000346499600289&DestLinkType=FullRecord&DestApp=WOS_CPL
U2 - 10.1109/AIM.2014.6878333
DO - 10.1109/AIM.2014.6878333
M3 - Conference contribution
AN - SCOPUS:84906659222
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1728
EP - 1733
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -