A robust, non-linear filter with parametric memory is applied to the case of a mobile robot with inaccurate dead reckoning. The robot occasionally receives ambiguous information from known landmarks. The ability of the filter to fuse data in space and time is demonstrated and parametric navigation performance is presented.
Mobile Robot Navigation With Ambiguous Sparse Landmarks
Mobile Robots II ; 1987 ; Cambridge,CA,United States
Proc. SPIE ; 0852
1987-01-01
Conference paper
Electronic Resource
English
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