Hi! I've already write a post for the tuning of the calman filter,but maybe the problem in my program was another one...maybe the model was wrong.

This's the problem:

A robot is moving on a white plane,looked by a camera. I send to the robot the command for speed and angolar speed. I come back from the image to the robot's coordinates on the plane by the adge detection and the homography.

So,all I know is:

-the coordinates X and Y on the plane of the robot (misurated)

-the speed of the robot

-the angolar speed of the robot

Anybody can suggest me a discrete model for kalman filter of this situation? (matrix A,B,C,D)

Anybody has already studied this problem? Anybody have got matlab file on this problem?



Reply to
Loading thread data ...

PolyTech Forum website is not affiliated with any of the manufacturers or service providers discussed here. All logos and trade names are the property of their respective owners.