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Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment
dc.creator | Vuković, Najdan | |
dc.creator | Miljković, Zoran | |
dc.creator | Mitić, Marko | |
dc.creator | Petrović, Milica | |
dc.creator | Husen, Mohamed A. | |
dc.date.accessioned | 2023-02-23T07:10:42Z | |
dc.date.available | 2023-02-23T07:10:42Z | |
dc.date.issued | 2013 | |
dc.identifier.isbn | 978-86-82631-69-9 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4472 | |
dc.description.abstract | To navigate autonomously in a manufacturing environment Automated Guided Vehicle (AGV) needs the ability to infer its pose. This paper presents the implementation of the Extended Kalman Filter (EKF) coupled with a feedforward neural network for the Visual Simultaneous Localization and Mapping (VSLAM). The neural extended Kalman filter (NEKF) is applied on-line to model error between real and estimated robot motion. Implementation of the NEKF is achieved by using mobile robot, an experimental environment and a simple camera. By introducing neural network into the EKF estimation procedure, the quality of performance can be improved. | sr |
dc.language.iso | en | sr |
dc.publisher | Kraljevo : Faculty of Mechanical and Civil Engineering | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35004/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/share-your-work/public-domain/cc0/ | |
dc.source | Proceedings of the 35th International Conference on Production Engineering (ICPE-S 2013) | sr |
dc.subject | Automated Guided Vehicles | sr |
dc.subject | Monocular SLAM | sr |
dc.subject | Extended Kalman Filter (EKF) | sr |
dc.subject | Feedforward neural network | sr |
dc.subject | The neural extended Kalman filter (NEKF) | sr |
dc.title | Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment | sr |
dc.type | conferenceObject | sr |
dc.rights.license | CC0 | sr |
dc.rights.holder | Prof. Zoran Petrović | sr |
dc.citation.epage | 334 | |
dc.citation.rank | M33 | |
dc.citation.spage | 331 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/10667/bitstream_10667.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4472 | |
dc.type.version | publishedVersion | sr |