Human Velocity Estimation Using Kalman Filter and Least Squares With Adjustable Window Sizes for Mobile Robots

For autonomous mobile robots to work safely in human-coexistent environments, human-velocity estimation is essential. However, the human body periodically fluctuates to the front, rear, right, and left while walking. Also, a significant estimation error occurs due to the vibration of sensors install...

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Veröffentlicht in:	IEEE access 2024, Vol.12, p.103260-103270
Hauptverfasser:	Kamezaki, Mitsuhiro, Hirayama, Michiaki, Kono, Ryosuke, Tsuburaya, Yusuke, Sugano, Shigeki
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy adjustable window size Autonomous mobile robot Autonomous robots Estimation human-walking velocity estimation Kalman filter Kalman filters least squares Legged locomotion Mobile robots Robot kinematics Trajectory Velocity measurement
Online-Zugang:	Volltext
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