Comparing mobile robot localisation algorithms using Kalmtool

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Abstract

In this paper we present an estimation platform with simulation capabilities to evaluate methods for localisation of a mobile robot using a feature map. The platform is based on the Kalmtool 4 toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for the DD1 filter and the DD2 filter. It also contains functions for Unscented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB version 7, but no additional toolboxes are required.
Original languageEnglish
Title of host publicationProceeding of 15th IFAC Symposium on System Identification, SYSID 2009
Publication date2009
Publication statusPublished - 2009
Event15th IFAC Symposium on System Identification (SYSID 2009) - Saint-Malo, France
Duration: 6 Jul 20098 Jul 2009
Conference number: 15

Conference

Conference15th IFAC Symposium on System Identification (SYSID 2009)
Number15
CountryFrance
CitySaint-Malo
Period06/07/200908/07/2009

Cite this

Mogensen, L. V., Hansen, S., Ravn, O., & Poulsen, N. K. (2009). Comparing mobile robot localisation algorithms using Kalmtool. In Proceeding of 15th IFAC Symposium on System Identification, SYSID 2009