Localization and Tracking of Indoor Mobile Robot with Beacons and Dead Reckoning Sensors

被引：0
|
作者：
Lobo, Allan [1 ]
Kadam, Ronit [1 ]
Shajahan, Shabeeha [1 ]
Malegam, Keshad [2 ]
Wagle, Kranti [1 ]
Surve, Sunil [1 ]
机构：
[1] Fr Conceicao Rodrigues Coll Engn, Bombay, Maharashtra, India
[2] Embry Riddle Aeronaut Univ, Daytona Beach, FL USA
来源：
2014 IEEE STUDENTS' CONFERENCE ON ELECTRICAL, ELECTRONICS AND COMPUTER SCIENCE (SCEECS) | 2014年
关键词：
Localization; Odometry; Dead Reckoning; Inertial Measurement Unit(IMU); Trilateration; Kalman filter;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Autonomous robots must be able to localize themselves in an environment. We are interested in the real time pose estimation of a single surveillance robot based on the Odometry algorithm and Dead Reckoning using Inertial Measurement Unit (IMU) sensors. This approach is subjected to accumulated errors due to slippage and drift respectively. Algorithm proposed in this paper uses Trilateration with Extended Kalman filter. We found that our approach reduces the error.
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页数：4
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