@inproceedings{7711b38100764724b8b8428057125e9a,
title = "An EKF SLAM algorithm for mobile robot with sensor bias estimation",
abstract = "This paper presents an improved EKF method applied into mobile robot SLAM problem, which has taken the sensor bias problem into consideration. Mobile robot Pioneer 3-AT is taken as the model in this paper to study on the theoretical derivation and the experimental verification. The kinematic model of Pioneer 3-AT mobile robot is presented at first. Then the improved EKF method considering the bias estimation and compensation problem is proposed to enhance the position estimation accuracy. In the end, simulation experiments are presented to verify the effectiveness of the proposed method. The results show that the method is always effective on ensuring the estimation accuracy even though with unknown bias.",
keywords = "Extended Kalman Filtering (EKF), Mobile robot, Simultaneous localization and mapping (SLAM)",
author = "Xiaotong Xie and Yao Yu and Xiaobo Lin and Changyin Sun",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017 ; Conference date: 19-05-2017 Through 21-05-2017",
year = "2017",
month = jun,
day = "30",
doi = "10.1109/YAC.2017.7967420",
language = "英语",
series = "Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "281--285",
booktitle = "Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017",
}