Abstract
This paper presents a more detailed design method of Q and R when the mobile robots move in circular motions: It through measuring and comparing the displacement difference of broken-line motions and circular motions within a relatively short time interval t to determine the value of Q at the same time using the mean of measurement error as the value of R. The results show that this way of design can effectively reduce the error of the trajectory.
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Acknowledgments
This research was supported by the Next-Generation Information Computing Devel-opment Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (NRF-2014M3C4A7030503).
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Lee, M., Kim, S., Cho, Y. (2016). A Study on Real Time Circular Motion in Robots Using Kalman Filters. In: Park, J., Chao, HC., Arabnia, H., Yen, N. (eds) Advanced Multimedia and Ubiquitous Engineering. Lecture Notes in Electrical Engineering, vol 354. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-47895-0_24
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DOI: https://doi.org/10.1007/978-3-662-47895-0_24
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