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Kinematic Model used in robot localization package

I am currently implementing an H-infinity filter for fusion using ROS kinetic on ubunto and I have a problem finding a good Model for the filter. The fusion is for localization just like robot localization package.

I have used Robot localization package and it is giving good results in both ukf and ekf so I wanted to ask if you can give me more details about the Model used in the package and what are the inputs needed for it to operate.

Kinematic Model used in robot localization package

I am currently implementing an H-infinity filter for fusion using ROS kinetic on ubunto and I have a problem finding a good Model for the filter. The fusion is for localization just like robot localization package.

I have used Robot localization package and it is giving good results in both ukf and ekf so I wanted to ask if you can give me more details about the Model used in the package and what are the inputs needed for it to operate.