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Proceeding ofthe 6th International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26,2009
-
is governed by a linear stochastic difference equation. As an
/1-~/
extension to the same idea, the extended Kalman filter (EKF) is
used if the dynamic of the system and/or the output dynamic is
nonlinear. EKF is based on linearization about the current
----------------------
y ~-----------
estimation error mean and covariance [11].
4.1. Definitions
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Proceeding ofthe 6th International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26,2009
A 13 =
aA = -21
ae T(rLWL + rRWR)
.
Sine Mobile
robot
afl 1 omega _c ,....--_-----,
A 14 = arL = 2T WL cos 8
xhat
afl 1
A 15 = arR = 2T WR cos 8
A 23 = ae = 21
af2
T(rLWL + rRWR) cos 8
af2 1 .
A 24 = arL = 2T WL sin 8 Plot
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Proceeding ofthe 6th International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26,2009
2.1
1.9
1.8
E
y ;; 1.7
c
1 0
:;: 1.6
.~
a. 1.5
x 1.4
1.3
1.2 ",,",--~~""""""'~~---.I'----~""""""'~~--...-I'---'~~-"""-"_--
o 50 100 150 200 250 300
time(s)
Figure 7. Illustration ofusing AEKF to estimate the position x
Scope D
Scope 1 D
2.6
1 --Posy
1 1 1
Scope 2 -L-- AEKF estimate
2.4 - - - - -t - - - - -1- - - - - t- - - ~
1 1 1 1
1 1 1 1
____ ..1 1 .L _ _____ L_
Figure 5. Block diagram of "Camera" as a subsystem 2.2 1 1 1
g
1 1 1 1
1 1 1 1
2 - - - - "1 - - - - -1- - - - - T - - - - ----1-----
>- 1 1 1
c 1
6. SIMULATION RESULTS
0
:;:
·00 1.8
0
a.
---- -----:- ----J rf'---
~
1 1 1
-----1-----
1
1
-:-
1
~
1
~ - - - -
1
-----'-----
1
1
1
shows the trajectory estimation of AEKF for the mobile robot. To 1 1 1 1
1.4 - -1- - - - - r - - - - -----r----
evaluate the performance of AEKF, we plotted the estimated and 1 1 1
Figure 10 shows the estimation error of AEKF. These figures o 50 100 150 200 250 300
verify the performance of the designed AEKF using Simulink. time(s)
In addition, Figures 11-13 illustrate the values of estimated Figure 8. Illustration ofusing AEKF to estimate the position y
parameters via the augmented filter.
2.6 3.5
1 - true Trajectory 1 --theta
1
____ .L ~ _ AEKF estimate 1 1 AEKF estimate
2.4 3 ---------------I---L--.-_ _ ~-~~
1
1
1
1 1 1 1 1
1 1 1 1
2.2 - -1- - - - ..., - - - - r - - - -1- - - - 2.5 - - - - -+ - - - - -1- - - - - +- - - - - -l - - - - -
1 1 1 1 1
1 1 1 1
g
1 1 1 1 1
1 1 1 1
____ .L ...J _ L S - - - - ...! - - - - _1- .!... _ _ _ _ _ 1 _
2
1 ~ 1 _
2
>- Jg, 1 1 1 1
c : : : ~ : <tS
1 1 1 1
-:- -:-
1 1 1 1
~- -)(- -
1 1 1 1 1
1.6 - - - - ~- - - - - - - - --
____ ..1 _ _ _ _
1 1
_ L
1
...J
1
1
1
_
1 1 1 1 1
~: 1 : :
0.5
1 1 1 1
r - - - - ..., - - - - -
1
1.4 ~ T - - - -1- - -, - - - - r - - - -1- - - -
- - - - -1- - - - - 1- - - - -
1 1 1 1
rV
~ I I I
1 1 1 1
1 1 1
O'-"-------'-----L-------'-----'--------'--------'
1.5 1.6 1.7 1.8 1.9 2 2.1 2.2 o 50 100 150 200 250 300
position x (m) time(s)
Figure 6. Trajectory estimation ofAEKF Figure 9. Illustration ofusing AEKF to estimate the orientation
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Proceeding ofthe 6th International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26,2009
6
0.5 ,.....----~--___.___--~-___r_------_____, 1 - - estimated d
- - Estimation Error 1
1
x ____ l l J L _
5.8
& 1
1
1
1 1 1 1 1
150 200 250 300 5.6 - - - - -+ - - - - -1- - - - - +- - - - - -l - - - - - I- - - - -
1 1 1 1 1
E 1 1
.8- 1
>- 0.5 : : : :
&
:1: ] "C 1 1 1 1 1
0 - 1 -I - 1 1 5.4 - "T - - - - -1- - - - - T - - - - --, - - - - - r - - - -
1 1 1 1 1
1 1 1 1
-0.5 . l . . . - -_ _ ....1....-_ _ ----L..-_ _- - - - ' - ' - - -_ _
1 1 1 1 1
o
1 1 1 1 1
~ 100 1~ ~ 250 300 1
- - - - I" - - - -
1 1
T- - - -
1 1
5.2 -1- - - - - -I - - - - - 1- - - - -
0.5 1 1 1 1 1
1 1 1 1 1
1 1 1 1 1
~ 0 - 1 _ 1 1 1 __ 1 __ 1 1 1 1 1
£ 1 1 1 1 1
5'-----....1......------1...-------1...-------1---...1.....-----1
1 1 1 1 1 o 50 100 150 200 250 300
-0.5 time(s)
o 50 100 150 200 250 300
time(s) Figure 13. The estimated d by AEKF
Figure 10. Estimation error ofAEKF
7. CONCLUSIONS
2
1 - - estimated rL In this research, a new design of augmented extended kalman
1 1 1
1.8 - - - - -t - - - - - 1- - - - - + - - - - -I - - - - - I- - - - - filter for real-time simulation of mobile robots is presented. A
1
1
1
1
1
1
1
1
Simulink® model is developed to localize mobile robots while
____ ..1 L _
1.6 1
1
1_ _ _ _ _ _
1
1
1
estimating a proper set of odometric parameters. The simulation
1
1 1 1 results verify the effectiveness of the new design. In the future we
1
1 1 1
1.4 - - - - "1 - - - - -1- - - - - - - - - -1- - - - - I - - - - will conduct some experiments using the Khepera II mobile robot,
E 1 1 1 1
.8- 1 1 1 1 manufactured by K-Team, to verify the simulations of this
,-....J
1.2 - - -I - - - -1- - --
research. Furthermore, utilizing the AEKF in real time manner for
1 1
- - - - _I
1
~ _
the simultaneous localization and mapping (SLAM) problem
1 would be our future challenging task, where on-line odometry
1
1 1 1 1 calibration could playa very important role especially in solving
0.8 - - - , - - - - - 1- - - - - T - - - - -I - - - - - r - - - -
1 1 1 1 1 the data association problem.
1 1 1 1 1
0.6'-----....1....-------L.-------'----'-----....L....------'
o 50 100 150 200 250 300
time(s) 8. REFERENCES
Figure 11. The estimated rL by AEKF
[1] Antonelli, G. and S. Chiaverini, 2006. Linear estimation of
the odometric parameters for differential-drive mobile robots.
Proceedings of the 2006 IEEE/RSJ. International Conference
on Intelligent Robots and Systems. 9 - 15 October 2006,
2 Beijing, China. PRC. pp: 3287-3292.
1 - - estimated rR
____ l
1
L J _ [2] Antonelli, G. and S. Chiaverini, 2007. Linear estimation of
1.8 1 the physical odometric parameters for differential-drive
1
1 1 1
r - - - - --, - - - - -
1 1 mobile robots. Springer Netherlands, Auton. Robots, 23(1):
1.6 - - - - "1 - - - - -1- - - - - 1- - - - -
1 1 1 1 1 59-68, 2007.
1.4 - - - - -t -
1
- - -
1
-1- - - - -
1
+- - - - -
1
-l - - - -
1
- 1- - - - - [3] Borenstein, 1. and L. Feng, 1996.Measurement and
E 1 1 1 1 1
Correction of Systematic Odometry Errors in Mobile Robots.
.8- 1 1 1 1 1
,-CI:.
1.2
_ _ _ _ ..l 1 L ...J 1 _
IEEE Trans. Robot. Automat., 12(6): 869-880, 1996.
1 1 1 1 1
1 1 1 1 1 [4] Doh, N.L., H. Choset, and W.K. Chung, 2006. Relative
1 1 1 1
"'.r"'I"V""",,,I·V" '\. - - - -I localization using path odometry information. Springer
1 1 1
1
1 1
Netherlands. Auton. Robots, 21(2): 143-154, September
0.8 - - - - "1 - - - - -1- - - - - t" - - - - ""1 - - - - -1- - - - -
2006.
1 1 1 1 1
1
0.6 '---_ _....L....-_ _---1...-_ _----'-_ _-----1
1 1 1 1
-'---_-----'
[5] Grewal, M.S. and A.P. Andrews (2001). Kalman Filtering:
o 50 100 150 200 250 300 Theory and Practice Using Matlab. 2nd Edition, John Wiley
time(s) & Sons Inc., New York.
Figure 12. The estimated rR by AEKF [6] Larsen, T.D, K.L. Hansen, N.A. Andersen and O. Ravn,
1999. Design of Kalman filters for mobile robots; evaluation
of the kinematic and odometric approach. IEEE. Int. Conf.
Control Applications, 2: 1021-1026.
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Proceeding o/the 6th International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26,2009
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