Figures & data
Figure 1. EKF block diagram.
Figure 2. Multi-sensor fusion in mobile robot navigation.
Figure 3. Nonlinear function approximated by the fuzzy model.
Figure 4. Fuzzy-rule base generated with input space partitioning.
Figure 5. RMSE of the EKF (continuous line) and the Gauss–Newton (dashed line) algorithm.
Figure 6. Mobile robot with odometric sensors.
Figure 7. Orientation of the sonar i.
Figure 8. Desirable trajectory of the autonomous vehicle i.
Figure 9. (a) Desirable trajectory (continuous line) and trajectory using EKF fusion based on odometric and sonar measurements (−.−). (b) Desirable orientation θ d of the mobile robot (continuous line) and real orientation θ (−.−) using EKF fusion.
