Sensor Noise Compensation for a Remote Controlled Sprayer Using EKF

Abstract:

The dynamic model of a remote controlled sprayer using skid-steering method is presented as a state equation. The precision tracking of the remote controlled sprayer is difficult to realize due to sensor noise. In this paper, we propose the extended Kalman filter (EKF) algorithm to compensate for the odometric sensor noise. To demonstrate the performance of the proposed algorithm, simulations which represent a real working sprayer in a greenhouse are performed. The results show the improved localization accuracy obtained by using the proposed algorithm.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1025-1029
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1025
• Online since: May 2013
• Authors: Juh Yun An, In Nam Lee, Ki Ho Kim, Kwan Ho You
• Keywords: Dynamic Model, Extended Kalman Flter (EKF), Remote Controlled Sprayer, Sensor Noise Compensation, Skid-Steering

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