Multi-Sensor Perceptual System for Mobile Robot and Sensor Fusion-based Localization

被引：0
|
作者：
Hoang, T. T. [1 ]
Duong, P. M. [1 ]
Van, N. T. T. [1 ]
Viet, D. A. [1 ]
Vinh, T. Q. [1 ]
机构：
[1] Vietnam Natl Univ, Dept Elect & Comp Engn, Univ Engn & Technol, Hanoi, Vietnam
来源：
2012 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND INFORMATION SCIENCES (ICCAIS) | 2012年
关键词：
sensor; sensor fusion; data fusion; localization; laser range finder; omni-camera; GPS; sonar; Kalman filter; KALMAN FILTER; ODOMETRY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing the kinematic model of the robot as well as estimating the input noise covariance matrix as being proportional to the wheel's angular speed. At the correction step, the measurements from all sensors including incremental pulses of the encoders, line segments of the LRF, robot orientation of the compass and deflection angular of the omni-directional camera are fused. Experiments in an indoor structured environment were implemented and the good localization results prove the effectiveness and applicability of the algorithm.
引用
收藏
页码：259 / 264
页数：6
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