Derivative free Kalman filtering used for orchard navigation

Søren Hansen; Enis Bayramoglu; Jens Christian Andersen; Ole Ravn; Nils Axel Andersen; Niels Kjølstad Poulsen

Derivative free Kalman filtering used for orchard navigation

Søren Hansen (Invited author), Enis Bayramoglu (Invited author), Jens Christian Andersen (Invited author), Ole Ravn (Invited author), Nils Axel Andersen (Invited author), Niels Kjølstad Poulsen (Invited author)

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Abstract

In this paper the use of derivative free filters for mobile robot localisation is investigated. Three different filters are tested on real life data from an autonomous tractor running in an orchard environment. The localisation algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees. The line features are created on basis of 2D laser scanner data by a least square algorithm. The Matlab (R) toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.

Original language	English
Title of host publication	Derivative free Kalman filtering used for orchard navigation
Publication date	2010
ISBN (Print)	978-0-9824438-1-1
Publication status	Published - 2010
Event	13th International Conference on Information Fusion - Edinburgh, United Kingdom Duration: 26 Jul 2010 → 29 Jul 2010 http://www.fusion2010.org/

Conference

Conference	13th International Conference on Information Fusion
Country/Territory	United Kingdom
City	Edinburgh
Period	26/07/2010 → 29/07/2010
Internet address	http://www.fusion2010.org/

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title = "Derivative free Kalman filtering used for orchard navigation",

abstract = "In this paper the use of derivative free filters for mobile robot localisation is investigated. Three different filters are tested on real life data from an autonomous tractor running in an orchard environment. The localisation algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees. The line features are created on basis of 2D laser scanner data by a least square algorithm. The Matlab (R) toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.",

author = "S{\o}ren Hansen and Enis Bayramoglu and Andersen, {Jens Christian} and Ole Ravn and Andersen, {Nils Axel} and Poulsen, {Niels Kj{\o}lstad}",

year = "2010",

language = "English",

isbn = "978-0-9824438-1-1",

booktitle = "Derivative free Kalman filtering used for orchard navigation",

note = "13th International Conference on Information Fusion, FUSION 2010 ; Conference date: 26-07-2010 Through 29-07-2010",

url = "http://www.fusion2010.org/",

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TY - GEN

T1 - Derivative free Kalman filtering used for orchard navigation

AU - Hansen, Søren

AU - Bayramoglu, Enis

AU - Andersen, Jens Christian

AU - Ravn, Ole

AU - Andersen, Nils Axel

AU - Poulsen, Niels Kjølstad

PY - 2010

Y1 - 2010

N2 - In this paper the use of derivative free filters for mobile robot localisation is investigated. Three different filters are tested on real life data from an autonomous tractor running in an orchard environment. The localisation algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees. The line features are created on basis of 2D laser scanner data by a least square algorithm. The Matlab (R) toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.

AB - In this paper the use of derivative free filters for mobile robot localisation is investigated. Three different filters are tested on real life data from an autonomous tractor running in an orchard environment. The localisation algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees. The line features are created on basis of 2D laser scanner data by a least square algorithm. The Matlab (R) toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.

M3 - Article in proceedings

SN - 978-0-9824438-1-1

BT - Derivative free Kalman filtering used for orchard navigation

T2 - 13th International Conference on Information Fusion

Y2 - 26 July 2010 through 29 July 2010

ER -

Derivative free Kalman filtering used for orchard navigation

Abstract

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