State Estimation and Localization Based on Sensor Fusion for Autonomous Robots in Indoor Environment
Currently, almost all robot state estimation and localization systems are based on the Kalman filter (KF) and its derived methods, in particular the unscented Kalman filter (UKF). When applying the UKF alone, the estimate of the state is not sufficiently precise. In this paper, a new hierarchical in...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
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| Series: | Computers |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-431X/9/4/84 |