Location estimation using delayed measurements

M. Bak, T.D. Larsen, M. Norgaard, N.A. Andersen, N.K. Poulsen, O. Ravn
AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354)  
When combining data from various sensors it is vital to acknowledge possible measurement delays. Furthermore, the sensor fusion algorithm, often a Kalman filter, should be modified in order to handle the delay. This paper examines different possibilities for handling delays and applies a new technique to a sensor fusion system for estamating the location of an Autonomous Guided Vehicle. The system fuses encoder and vision measurements in an extended Kalman filter. Results from experiments in a
more » ... m experiments in a real environment are reported.
doi:10.1109/amc.1998.743533 fatcat:xzlogozusrhsvee3q24ksjd2by