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Erschienen in:
2018 | OriginalPaper | Buchkapitel
Implementation and Validation of Kalman Filter Based Sensor Fusion on the Zorro Mini-robot Platform
verfasst von : Philipp Bolte, Joyce Martin, Reza Zandian, Ulf Witkowski
Erschienen in: Towards Autonomous Robotic Systems
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Abstract
This paper focuses on the implementation of a Kalman filter for a sensor fusion task and the testing and validation of the implementation by using a test platform. Implementation device for the sensors and the fusion algorithm is the mini-robot platform Zorro that is equipped with multiple sensors. In order to internally develop a consistent model of the robot’s world sensor data has to be fused. The fused data is used to control the behavior of the robot that should be able to act autonomously. To test the sensor fusion and the resulting behavior a Teleworkbench test system has been developed that supports video recording and analysis of the robot’s behavior complemented by wireless transmission of robot’s internal sensor and state data. Both, the video data and the sensor data are matched and displayed at operator’s computer of the Teleworkbench system for detailed analysis.