Adaptive Fading Extended Kalman Filtering for Mobile Robot Localization Using a Doppler–Azimuth Radar

Adaptive Fading Extended Kalman Filtering for Mobile Robot Localization Using a Doppler–Azimuth Radar

In this paper, the localization problem of a mobile robot equipped with a Doppler–azimuth radar (D–AR) is investigated in the environment with multiple landmarks. For the type (2,0) robot kinematic model, the unknown modeling errors are generally aroused by the inaccurate odometer measurement. Meanw...

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Bibliographic Details
Main Authors: Bin Li, Yanyang Lu, Hamid Reza Karimi
Format: Article
Language:English
Published: MDPI AG 2021-10-01
Series:Electronics
Subjects:
localization
mobile robot
adaptive fading extended Kalman filter
modeling errors
unknown measurement bias
Doppler-azimuth radar
Online Access:https://www.mdpi.com/2079-9292/10/20/2544

Internet

https://www.mdpi.com/2079-9292/10/20/2544

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