The paper deals with problem of trajectories optimization of mobile robotic systems using discrete Kalman filtration (DKF). Localization and optimization of the trajectory were performed in indoor spaces using the infrared camera StarGazer. The used Mecanum omnidirectional chassis allows great maneuverability, but the movement itself causes deflection from the desired trajectory. The minimization of these deflections was solved by generally standard procedures and then we compared them with the outputs obtained with DKF. The results were quantified and evaluated at the end of the article.


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    Title :

    Trajectories optimization of mobile robotic systems using discrete Kalman filtration


    Contributors:


    Publication date :

    2018-01-01


    Size :

    405810 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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