A multisensor localization algorithm for mobile robots and its real-time experimental validation

Author

Bonnifait, Ph. ; Garcia, G.

Author_Institution

Lab. d´´Autom., CNRS, Nantes, France

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1395

Abstract

We present a localization system which computes, by extended Kalman filtering, the position and heading of a vehicle using both odometry and the measurement of the relative azimuth angles of known landmarks. Observability of the continuous system is studied and gives information on situations where the performance of the filter may deteriorate. Results of extensive real outdoor experiments with a wheel-type robot moving on a slightly uneven floor are reported. We show that the system achieves a precision of a few centimetres

Keywords

CCD image sensors; Kalman filters; angular measurement; continuous time systems; mobile robots; navigation; observability; position control; real-time systems; continuous system; extended Kalman filtering; heading control; mobile robots; multisensor localization; observability; odometry; position control; real-time systems; relative azimuth angles; Azimuth; Continuous time systems; Equations; Information filtering; Information filters; Kalman filters; Mobile robots; Observability; Position measurement; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506901

Filename

506901