Visual Protractor Based Localization Algorithm for Mobile Robot

Author

Chen, Wei ; Wang, Xuening ; Wu, Tao ; Xu, Xin

Author_Institution

Coll. of Mechantronics & Autom., National Univ. of Defense Technol., Changsha

Volume

3

fYear

2006

fDate

16-18 Oct. 2006

Firstpage

67

Lastpage

71

Abstract

Data fusion is an effective tool to improve the localization precision of a mobile robot. This paper presents a new algorithm to improve the precision of robot localization by fusing data from three kinds of sensors: encoders, a gyroscope and a camera. In the data fusion process, the camera is used as a visual protractor, which is a simple and robust way to process vision information but plays an important role in reducing the errors of localization in high slip-rate cases. An experiment of mobile robot localization is designed to test the efficiency of the algorithm. In this experiment, the localization precision of robots can be improved almost 400% when visual protractor is introduced

Keywords

mobile robots; sensor fusion; data fusion; mobile robot localization; vision information; visual protractor based localization; Cameras; Global Positioning System; Gyroscopes; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems; Testing; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on

Conference_Location

Jinan

Print_ISBN

0-7695-2528-8

Type

conf

DOI

10.1109/ISDA.2006.53

Filename

4021860