Proceedings of the Fuzzy System Symposium
21st Fuzzy System Symposium
Session ID : 9D4-2
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Host: Japan Society for Fuzzy Theory and Intelligent Informatics

Co-host: International Fuzzy Systems Association, IEEE Computational Intelligence Society Japan Chapter

9D4.
3D positioning algorithm for outdoor mobile robot
*Shin Amano, Yosuke Ito, Yoshihiro Miyazaki, Kazuyuki Kobayashi, Kajiro Watanabe
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Keywords: 3D positioning, cascade Kalman filter, multi-rate sensor fusion
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Abstract

This paper describes how to realize a real-time 3D positioning for outdoor mobile robot based on multi-rate sensor fusion technique. In order to achieve accurate 3D positioning to compensate vertical resolution as well as to identify the direction of the mobile robot, The cascade type Kalman filer can enable to reduce significant computational task and can enable to estimate a real-time 3D positioning and its direction.

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© 2005 Japan Society for Fuzzy Theory and Intelligent Informatics
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