Research of Trajectory Planning for Mobility Assistance Robot Based on CKF

According to the problem on tracking planning of mobility assistance robot, a tracking planning method was presented using the kalman filter (KF). Based on known nonholonomic dynamic model of mobility assistance robot, the cubature kalman filter (CKF) was used to improve the influence of nonlinear s...

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Bibliographic Details
Main Authors: Fucheng Cao, Yuanchun Li, Lirong Wang
Format: Conference Proceeding
Language:English
Subjects:
CKF
Equations
Kalman filters
Mathematical model
Mobile robots
mobility assistance robot
Robot kinematics
tracking
tracking planning
Wheels
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Summary:According to the problem on tracking planning of mobility assistance robot, a tracking planning method was presented using the kalman filter (KF). Based on known nonholonomic dynamic model of mobility assistance robot, the cubature kalman filter (CKF) was used to improve the influence of nonlinear system, and the autonomous navigation and control of mobility assistance robot was realized. The experimental results indicate that the method presented in this paper was excellent than extended kalman filter (EKF) and unscented kalman filter (UKF) in the stability, precision and computational complexity.
DOI:10.1109/ICINIS.2012.62