Pose Estimation of Mobile Robots Based on Maximum Correntropy Under Kalman Filtering Framework

Pose Estimation of Mobile Robots Based on Maximum Correntropy Under Kalman Filtering Framework

To address the problem of low pose estimation accuracy of traditional filtering algorithm for mobile robots in non-Gaussian noises, a pose estimation algorithm based on the combination of iterative unscented Kalman filter (IUKF) and maximum correntropy (MC), named as MCIUKF, was proposed for the app...

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Bibliographic Details
Main Authors: Zhipeng LI, Lan CHENG, Zhifei WANG, Gaowei YAN
Format: Article
Language:English
Published: Editorial Office of Journal of Taiyuan University of Technology 2021-11-01
Series:Taiyuan Ligong Daxue xuebao
Subjects:
simultaneous localization and mapping
non-gaussian noise
iterative unscented kalman filter
maximum correntropy
cost function
levenberg-marguardt method
Online Access:https://tyutjournal.tyut.edu.cn/englishpaper/show-473.html

Internet

https://tyutjournal.tyut.edu.cn/englishpaper/show-473.html

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