Kalman filtering: with real-time applications (2nd ed.)
Kalman filtering: with real-time applications (2nd ed.)
Adaptive filter theory (2nd ed.)
Adaptive filter theory (2nd ed.)
Dynamical systems and automatic control
Dynamical systems and automatic control
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Collaborative Exploration of Unknown Environments with Teams of Mobile Robots
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
NENA 1.0: novel extended nuclear application for the safekeeping of contamination-free environments
WSEAS Transactions on Systems and Control
How the Location of the Range Sensor Affects EKF-based Localization
Journal of Intelligent and Robotic Systems
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Cleaning is a major problem associated with pools. Since the manual cleaning is tedious and boring there is an interest in automating the task. This paper presents methods for autonomous localization and navigation for a pool cleaner to enable full coverage of pools. Path following cannot be ensured through use of internal position estimation methods alone; therefore sensing is needed. Sensor based estimation enable automatic correction of slippage. For this application we use ultrasonic sonars. Based on an analysis of the overall task and performance of the system a strategy for cleaning/navigation is developed. For the automatic localization a Kalman filtering technique is proposed: the Kalman filter uses sonar measurements and a dynamic model of the robot to provide estimates of the pose of the pool cleaner. Using this localization method we derive an optimal control strategy for traversal of a pool. The system has been implemented and successfully tested on the “WEDAB400” pool cleaner.