Application of Adaptive Extended Kalman Smoothing on INS/WSN Integration System for Mobile Robot Indoors

Chen, Xiyuan; Xu, Yuan; Li, Qinghua

doi:10.1155/2013/130508

Cited by 10 publications

(7 citation statements)

References 14 publications

(16 reference statements)

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“…Many researchers paid attention to intelligent wheelchair to build a central control unit, such as an agent running on a laptop/remote controller [28,9,7]. Trieu et al [44] built an intelligent wheelchair that can detect obstacles in front of it using a laser range finder sensor, and produces a real-time map.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Using a wireless visual sensor network to harmonically navigate multiple low-cost wheelchairs in an indoor environment

Tian

Chao

Feng

et al. 2016

Journal of Network and Computer Applications

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Harmonic navigation of multiple low-cost robotic wheelchairs in a topology of wireless sensor nodes that are deployed in a dynamic and crowded indoor environment is a Non-deterministic Polynomial-time hard (NP-hard) problem. To address this problem, we propose a distributed multi-wheelchair global harmonic navigation algorithm. The distinguishing features of the proposed navigation algorithm are global search and local conflict resolution abilities. In the proposed algorithm, a travel time prediction method adopts a penalty for potential conflicts based on wheelchairs' priority, velocity and distance between the nodes. Moreover, three harmonic rules are proposed for: 1) giving the highest priority to humans, 2) giving the highest priority to wheelchairs, 3) giving flexible priority to wheelchairs. Through extensive quantitative simulations, we explore the performance of wheelchairs in various floor plan topologies and different values for the system parameters, and demonstrate that the properties of crowded indoor environments have important influence on the performance of global navigation, such as service time. The third harmonic rule establishes the trade-off between the performance of humans and robotic wheelchairs. At the same time, physical prototype wheelchairs are implemented and they verify the proposed global harmonic navigation algorithm. Some suggestions for robotic wheelchair designers, building architects and building owners are provided based on the conclusion of the experimental results.

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Section: Related Workmentioning

confidence: 99%

“…With the development of wireless sensor network (WSN) technology, some researchers on robotics have tried to explore a new way of combining WSN and robotics to better serve all kinds of practical applications [1,7]. Some research efforts emphasized on platform implementation and distributed navigation algorithms.…”

Section: Related Workmentioning

confidence: 99%

Using a wireless visual sensor network to harmonically navigate multiple low-cost wheelchairs in an indoor environment

Tian

Chao

Feng

et al. 2016

Journal of Network and Computer Applications

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“…In this work, the random error of the fiber optic gyroscope is modeled using a first order auto regressive model, and the coefficients of the model were used to initialize the transition matrix of the Sage-Husa adaptive Kalman filter. Chen et al [15] proposed an adaptive extended Kalman filter on an INS/wireless sensor network (WSN) integration system for mobile robot indoors. Zhao et al [16] analyzed the suitable case for the robust Kalman filter in GPS/INS systems, and the filter characteristics including parameter setting, parameter meaning, and filter convergence condition are discussed simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Application of Updated Sage–Husa Adaptive Kalman Filter in the Navigation of a Translational Sprinkler Irrigation Machine

Liu

Zhao

Sun

et al. 2019

Water

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Autonomous navigation for agricultural machinery has broad and promising development prospects. Kalman filter technology, which can improve positioning accuracy, is widely used in navigation systems in different fields. However, there has not been much research performed into navigation for sprinkler irrigation machines (SIMs). In this paper, firstly, a self-developed SIM is introduced. Secondly, the kinematics model is established on the platform of the self-developed SIM, and the updated Sage–Husa adaptive Kalman filter, which is an accurate and real-time self-adaptive filtering algorithm, is applied in the navigation of the SIM with the aim of improving the positioning accuracy. Finally, experiment verifications were carried out, and the results show that the self-developed SIM has good navigation performance. Besides this, the influence of abnormal observations on the positioning accuracy of the system can be restrained by using the updated Sage–Husa adaptive Kalman filter. After using the updated Sage–Husa adaptive Kalman filter for the SIM, the maximum deviation between the SIM and the predetermined path is 0.18 m, and the average deviation is 0.08 m; these deviations are within a reasonable range. This proves that the updated Sage–Husa adaptive Kalman filter is applicable for the navigation of sprinkler irrigation machines.

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“…Hur and Ahn [10] propose a localization technique for mobile target using INS/WSN based on an intelligent filter with low complexity. Chen et al [11] propose an INS/WSN integration system of mobile target with adaptive extended Kalman Filter.Because the WSN and SINS are two separate (self-contained) subsystems, the data alignment discrepancies between SINS and WSN would appear with 2 Journal of Sensors the clock difference and data transmission latency. The time synchronization between WSN and SINS becomes a matter of great public interest before the integrated positioning system is implemented [12].…”

Section: Introductionmentioning

confidence: 99%

Integrated SINS/WSN Positioning System for Indoor Mobile Target Using Novel Asynchronous Data Fusion Method

Yang

Luo

et al. 2017

Journal of Sensors

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According to the asynchronous transmission of data for the SINS/WSN integrated positioning system, this paper proposes a novel asynchronous data fusion method using Unscented Kalman Filter for SINS/WSN integrated positioning system based on indoor mobile target. The state equation of the integrated system is built with the motion characteristic of mobile target. The pseudo measurement equation is built based on the time sequence of SINS/WSN measured value through detecting the measurement of WSN in every fusion period. Considering that the improved state-space model, comprised of the state equation and pseudo measurement equation, is the nonlinear equations, the Unscented Kalman Filter is applied to estimate the state value of the statespace model. Hence the asynchronous data fusion method for SINS/WSN integrated positioning system can be achieved. Simulation results and experimental tests show that the positioning system with proposed asynchronous data fusion algorithm performs feasibility and stability under circumstances of the asynchronous time, and it is superior to the traditional asynchronous data fusion and synchronous data fusion methods.

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Application of Adaptive Extended Kalman Smoothing on INS/WSN Integration System for Mobile Robot Indoors

Cited by 10 publications

References 14 publications

Using a wireless visual sensor network to harmonically navigate multiple low-cost wheelchairs in an indoor environment

Using a wireless visual sensor network to harmonically navigate multiple low-cost wheelchairs in an indoor environment

Application of Updated Sage–Husa Adaptive Kalman Filter in the Navigation of a Translational Sprinkler Irrigation Machine

Integrated SINS/WSN Positioning System for Indoor Mobile Target Using Novel Asynchronous Data Fusion Method

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