Development of an Effective Docking System for Modular Mobile Self-Reconfigurable Robots Using Extended Kalman Filter and Particle Filter

Development of an Effective Docking System for Modular Mobile Self-Reconfigurable Robots Using Extended Kalman Filter and Particle Filter

This paper presents an autonomous docking system with novel integrated algorithms for mobile self-reconfigurable robots equipped with inexpensive sensors. A novel docking algorithm was developed to determine the initial distance and orientation of the two modules, and sensor models were established...

Full description

Bibliographic Details
Main Authors: Peter Won, Mohammad Biglarbegian, William Melek
Format: Article
Language:English
Published: MDPI AG 2015-02-01
Series:Robotics
Subjects:
modular mobile self-reconfigurable robots
autonomous docking
state estimation
extended Kalman filter
particle filtering
IR sensor
Online Access:http://www.mdpi.com/2218-6581/4/1/25

Internet

http://www.mdpi.com/2218-6581/4/1/25

Similar Items