Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
722390 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
Mobile robots and other moving vehicles need to know their position with a certain level of confidence. In this paper, a method is proposed to handle faults in the navigation system by considering the outputs of existing navigation modules rather than processing sensor data directly. The proposed method needs only a simple model for drift and noise, an extended Kalman filter and a CUSUM test. It can handle position information given in different coordinate systems and does not require any modification of existing navigation modules. Promising experimental results are shown.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Paul Sundvall, Patric Jensfelt, Bo Wahlberg,