Autonomous mobile robot localization based on multisensor fusion approach

Author

Luo, Ren C. ; Hsu, Wei-Lung

Author_Institution

Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan

fYear

2012

fDate

28-31 May 2012

Firstpage

1262

Lastpage

1267

Abstract

The objective of this paper is to develop a multisensor fusion approach based on particle filter for autonomous mobile robot localization. Sensors used here are ultrasonic sensor and received signal strength (RSS) which is a byproduct of ZigBee communication device. Both two sensors are inexpensive compared with other range sensors.

Keywords

Zigbee; mobile robots; particle filtering (numerical methods); path planning; pose estimation; position control; robot vision; sensor fusion; state estimation; state-space methods; telerobotics; ultrasonic devices; RSS localization system; RSS transform; ZigBee communication device; autonomous mobile robot localization; convergence time; dead-reckoning; mobile robot pose; multisensor fusion approach; particle filter; point mass; point weight; position estimation; probabilistic density; received signal strength; rotation error; state estimation; state-space method; transition error; triangular relation equation; ultrasonic localization system; ultrasonic sensor; Acoustics; Particle filters; Robot kinematics; Robot sensing systems; Sensor systems; RSS localization; particle filter; sensor fusion; ultrasonic localization;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics (ISIE), 2012 IEEE International Symposium on

Conference_Location

Hangzhou

ISSN

2163-5137

Print_ISBN

978-1-4673-0159-6

Electronic_ISBN

2163-5137

Type

conf

DOI

10.1109/ISIE.2012.6237271

Filename

6237271