DocumentCode
2234257
Title
Mobile robot navigation using sensor fusion
Author
Lizarralde, Fernando ; Nunes, Eduardo V L ; Hsu, Liu ; Wen, John T.
Author_Institution
Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Brazil
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
458
Abstract
This paper considers the localization and navigation of a mobile robot. The control strategy is based on a nonlinear model predictive control technique that utilizes the Newton method. The robot localization is obtained using information from odometric and ultrasonic sensors through a Kalman filter. Simulation and experimental results illustrate the efficacy of the proposed method.
Keywords
Kalman filters; Newton method; distance measurement; mobile robots; motion control; navigation; nonlinear control systems; path planning; predictive control; sensor fusion; Kalman filter; Newton method; mobile robot navigation; nonlinear model predictive control technique; odometric sensors; robot localization; robot motion control; sensor fusion; ultrasonic sensors; Control systems; Mobile robots; Navigation; Newton method; Open loop systems; Optimal control; Robot control; Robot sensing systems; Sensor fusion; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241637
Filename
1241637
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