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An adaptive particle filter for soft fault compensation of mobile robots

โœ Scribed by ZhuoHua Duan; ZiXing Cai; JinXia Yu


Book ID
107357385
Publisher
Science in China Press (SCP)
Year
2008
Tongue
English
Weight
928 KB
Volume
51
Category
Article
ISSN
1674-733X

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Extended Kalman and Particle Filtering f
โœ Gerasimos G. Rigatos ๐Ÿ“‚ Article ๐Ÿ“… 2010 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 658 KB

Motion control of mobile robots and efficient trajectory tracking is usually based on prior estimation of the robots' state vector. To this end Gaussian and nonparametric filters (state estimators from position measurements) have been developed. In this paper the Extended Kalman Filter which assumes