AS-EKF : a delay aware state estimation technique for telepresence robot navigation

Das, Barnali and Dobie, Gordon and Pierce, Stephen Gareth; (2019) AS-EKF : a delay aware state estimation technique for telepresence robot navigation. In: Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019. IEEE, ITA, pp. 624-629. ISBN 9781538692455 (https://doi.org/10.1109/IRC.2019.00126)

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Abstract

State estimation in dynamical telepresence systemsis very important in real-world applications as the true state of the robot is unspecified and sensors provide only a sequence of noisy measurements. In this research, we proposed a new technique of state estimation using delayed sensor measurements of a Telepresence robot for real-time navigation. An Augmented State Extended Kalman Filter (AS-EKF) is introduced to estimate the true position of the robot. The proposed algorithm was successfully tested in a real-environment experimental frameworkusing a state-of-the-art differential-drive telepresence robot. Our results show improvements of an average of more than 34% when compared to traditional EKF.

ORCID iDs

Das, Barnali ORCID logoORCID: https://orcid.org/0000-0003-4256-1327, Dobie, Gordon ORCID logoORCID: https://orcid.org/0000-0003-3972-5917 and Pierce, Stephen Gareth ORCID logoORCID: https://orcid.org/0000-0003-0312-8766;
  • Item type:Book Section
    ID code:67165
    Dates:
    Date
    Event
    26 March 2019
    Published
    10 January 2019
    Accepted
    Notes:© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
    Subjects:Technology > Electrical engineering. Electronics Nuclear engineering
    Department:Faculty of Engineering > Electronic and Electrical Engineering
    Depositing user: Pure Administrator
    Date deposited:06 Mar 2019 10:19
    Last modified:02 Dec 2024 01:06
    URI:https://strathprints.strath.ac.uk/id/eprint/67165
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