Title :
Design and experimental validation of an odometric and goniometric localization system for outdoor robot vehicles
Author :
Bonnifait, Philippe ; Garcia, Gaetan
Author_Institution :
Inst. de Recherche en Cybern. de Nantes, France
fDate :
8/1/1998 12:00:00 AM
Abstract :
A 2D mobile robot localization system which uses odometry and the azimuth angles of known landmarks is presented. Observability analysis helps to determine situations where such a system may undergo difficulties, and gives information on its behavior when one of the beacons is hidden. Experimental results are presented
Keywords :
CCD image sensors; Kalman filters; mobile robots; navigation; nonlinear systems; observability; position control; robot dynamics; sensor fusion; CCD image sensors; Kalman filtering; azimuth angles; goniometric localization; multiple sensor fusion; nonlinear systems; observability; odometric localization; optical triangulation systems; outdoor mobile robot; Azimuth; Dead reckoning; Global Positioning System; Kalman filters; Mobile robots; Nonlinear optics; Observability; Optical filters; Optical sensors; Vehicles;
Journal_Title :
Robotics and Automation, IEEE Transactions on
