A Kalman Filter for Wall Following
نویسنده
چکیده
We have implemented a wall following control law which takes its input signal from a kalman lter. The kalman lter comprises a wall model as well as the control law dynamics. The beneets of using this kalman lter approach include: (i) the eeect of sensor's noise on the control law is lessen, (ii) a compromise between the control's law operational conditions 1 and the actual environment is achieved, (iii) reliable methods can be implemented to detect when the control law should no longer be executed. We propose a system architecture that allows to detect inconsistences between the environment and the kalman lter's dynamic and measurement models. We develop a strategy for a smooth change to a new wall model (if possible), whenever the current wall model is no longer valid.
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