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Nonuniform Dual-Rate Extended Kalman-Filter-Based Sensor Fusion for Path-Following Control of a Holonomic Mobile Robot with Four Mecanum Wheels

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Nonuniform Dual-Rate Extended Kalman-Filter-Based Sensor Fusion for Path-Following Control of a Holonomic Mobile Robot with Four Mecanum Wheels

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dc.contributor.author Pizá, Ricardo es_ES
dc.contributor.author Carbonell-Lázaro, Rafael es_ES
dc.contributor.author Casanova Calvo, Vicente es_ES
dc.contributor.author Cuenca, Ángel es_ES
dc.contributor.author Salt Llobregat, Julián José es_ES
dc.date.accessioned 2023-06-13T18:03:41Z
dc.date.available 2023-06-13T18:03:41Z
dc.date.issued 2022-04 es_ES
dc.identifier.uri http://hdl.handle.net/10251/194195
dc.description.abstract [EN] This paper presents an extended Kalman-filter-based sensor fusion approach, which enables path-following control of a holonomic mobile robot with four mecanum wheels. Output measurements of the mobile platform may be sensed at different rates: odometry and orientation data can be obtained at a fast rate, whereas position information may be generated at a slower rate. In addition, as a consequence of possible sensor failures or the use of lossy wireless sensor networks, the presence of the measurements may be nonuniform. These issues may degrade the path-following control performance. The consideration of a nonuniform dual-rate extended Kalman filter (NUDREKF) enables us to estimate fast-rate robot states from nonuniform, slow-rate measurements. Providing these estimations to the motion controller, a fast-rate control signal can be generated, reaching a satisfactory path-following behavior. The proposed NUDREKF is stated to represent any possible sampling pattern by means of a diagonal matrix, which is updated at a fast rate from the current, existing measurements. This fact results in a flexible formulation and a straightforward algorithmic implementation. A modified Pure Pursuit path-tracking algorithm is used, where the reference linear velocity is decomposed into Cartesian components, which are parameterized by a variable gain that depends on the distance to the target point. The proposed solution was evaluated using a realistic simulation model, developed with Simscape Multibody (Matlab/Simulink), of the four-mecanum-wheeled mobile platform. This model includes some of the nonlinearities present in a real vehicle, such as dead-zone, saturation, encoder resolution, and wheel sliding, and was validated by comparing real and simulated behavior. Comparison results reveal the superiority of the sensor fusion proposal under the presence of nonuniform, slow-rate measurements. es_ES
dc.description.sponsorship Grant RTI2018-096590-B-I00 funded by MCIN/AEI/10.13039/501100011033 and by "ERDF A way of making Europe" and Grant PRE2019-088467 funded by MCIN/AEI/10.13039/501100011033 and by "ESF Investing in your future". es_ES
dc.language Inglés es_ES
dc.publisher MDPI AG es_ES
dc.relation.ispartof Applied Sciences es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Mobile robot es_ES
dc.subject Sensor fusion es_ES
dc.subject Kalman filter es_ES
dc.subject Odometry es_ES
dc.subject Mecanum wheels es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Nonuniform Dual-Rate Extended Kalman-Filter-Based Sensor Fusion for Path-Following Control of a Holonomic Mobile Robot with Four Mecanum Wheels es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.3390/app12073560 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI//PRE2019-088467//AYUDA PREDOCTORAL AEI-CARBONELL LAZARO. PROYECTO: DISEÑO EFICIENTE DE SISTEMAS DE CONTROL EN RED INALAMBRICA APLICADOS A UXVS UTILIZANDO TECNICAS DE CONTROL CON MUESTREO NO CONVENCIONAL Y BASADAS EN EVENTOS./ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-096590-B-I00/ES/DISEÑO EFICIENTE DE SISTEMAS DE CONTROL EN RED INALAMBRICA APLICADOS A UXVS UTILIZANDO TECNICAS DE CONTROL CON MUESTREO NO CONVENCIONAL Y BASADAS EN EVENTOS/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny es_ES
dc.description.bibliographicCitation Pizá, R.; Carbonell-Lázaro, R.; Casanova Calvo, V.; Cuenca, Á.; Salt Llobregat, JJ. (2022). Nonuniform Dual-Rate Extended Kalman-Filter-Based Sensor Fusion for Path-Following Control of a Holonomic Mobile Robot with Four Mecanum Wheels. Applied Sciences. 12(7):1-23. https://doi.org/10.3390/app12073560 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.3390/app12073560 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 23 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 12 es_ES
dc.description.issue 7 es_ES
dc.identifier.eissn 2076-3417 es_ES
dc.relation.pasarela S\459955 es_ES
dc.contributor.funder European Social Fund es_ES
dc.contributor.funder AGENCIA ESTATAL DE INVESTIGACION es_ES
dc.contributor.funder European Regional Development Fund es_ES
upv.costeAPC 1260 es_ES


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