Conference
Filtering Strategies for State Estimation of Omniwheel Robots
Abstract
Various state estimation strategies are investigated using a kinematic model of a four-wheel holonomic robot with Swedish wheels. A multi-tiered filtering strategy is implemented using Kalman Filters (KF) developed to estimate wheel velocity with an Extended Kalman Filter (EKF) and a Smooth Variable Structure Filter (SVSF) developed for state estimation of the robot. The use of only KFs on the wheels, only EKF or SVSF on the robot, and KFs on …
Authors
Dyer BM; Smith TR; Gadsden SA; Biglarbegian M
Volume
00
Pagination
pp. 186-191
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 16, 2020
DOI
10.1109/icma49215.2020.9233826
Name of conference
2020 IEEE International Conference on Mechatronics and Automation (ICMA)