eprintid: 1825
rev_number: 6
eprint_status: archive
userid: 12
dir: disk0/00/00/18/25
datestamp: 2016-07-22 03:41:52
lastmod: 2016-07-22 03:41:52
status_changed: 2016-07-22 03:41:52
type: article
metadata_visibility: show
creators_name: Phung, Manh Duong
creators_name: Nguyen thi thanh, van
creators_name: Trần Thuận, Hoàng
creators_name: Trần Quang, Vinh
creators_id: duongpm@vnu.edu.vn
creators_id: vanntt@vnu.edu.vn
creators_id: hoangthuan@gmail.com
creators_id: vinhtq@vnu.edu.vn
title: Locahzation of Internet-based Mobile Robot
ispublished: pub
subjects: ElectronicsandComputerEngineering
divisions: fac_fet
abstract: This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the confrol input and the feedback measurement suffer from communication delay. The filter operates through two phases: the time update and the data correction. The time update predicts the robot position by reformulating the kinematics model to be non-memoryless. The correction step corrects the prediction by extrapolating the delayed measurement to the present and then incorporating it to the being estimate as there is no delay. The optimality of the incorporation is ensured by the derivation of a multiplier that reflects the relevance of past observations to the present. Simulations in MATLAB and experiments in a real networked robot system confirm the validity of the proposed approach.
date: 2013-01-01
date_type: published
full_text_status: public
publication: VNU Journal of Science: Natural Sciences and Technology
volume: 29
number: 1
refereed: TRUE
citation:   Phung, Manh Duong and Nguyen thi thanh, van and Trần Thuận, Hoàng and Trần Quang, Vinh  (2013) Locahzation of Internet-based Mobile Robot.  VNU Journal of Science: Natural Sciences and Technology, 29  (1).        
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/1825/1/1233-2406-1-SM.PDF