Linear Kalman Filter for Dead Time Affected Measurement Signals Implemented in a Small Scale Automated Guided Vehicle

  • F. LüttekeEmail author
  • J. Franke
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


This paper describes an efficient way to calculate state estimations with a linear Kalman filter, if the measurement signal is subject to a fix dead time. In addition the presented solution can handle measurement signals with arbitrarily high sample times. After the derivation of the algorithm an application with high measurement signal dead time is explained. Finally a simulation depicts the result of the algorithm being implemented on the described application.


State estimation dead time AGV 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Franke, J., Lütteke, F.: Small Scale Versatile Autonomous Indoor Transportation System. In: Proceedings of International Chemnitz Manufacturing Colloquium (ICMC 2010), Chemnitz, Germany, Wissenschaftliche Scripten, pp. 897–904 (2010)Google Scholar
  2. 2.
    Welsh, G., Bishop, G.: An introduction to the kalman filter. University of North Carolina at Chapel Hill (1995)Google Scholar
  3. 3.
    Ullrich, G.: Fahrerlose Transportsysteme. Vieweg+Teubner, Wiesbaden (2011)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Institute for Manufacturing Automation and Production SystemsUniversity of Erlangen-Nuremberg (FAU)ErlangenGermany

Personalised recommendations