Consistent on line estimation of environment features aimed at enhancing the efficiency of the localization procedure for a powered wheelchair

Author

Ippoliti, G. ; Jetto, L. ; La Manna, A. ; Longhi, S.

Author_Institution

Dipt. di Ingegneria Inf., Univ. Politecnica delle Marche, Ancona

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

51

Lastpage

56

Abstract

A basic requirement for an autonomous mobile robot is to localize itself with respect to a given coordinate system. The relative methods and algorithms are strongly influenced by the a priori knowledge on the environment where the robot operates. If the environment is only partially known the localization algorithm needs a preliminary definition of a suitable environment map. In this paper the localization and environment features estimation problems are formulated in a stochastic setting and a Kalman filtering approach is proposed for the integration of odometric, gyroscope and sonar measures

Keywords

Kalman filters; filtering theory; handicapped aids; mobile robots; path planning; position control; stochastic processes; Kalman filtering; autonomous mobile robot; environment features; environment features estimation problems; gyroscope; line estimation; localization algorithm; odometry; powered wheelchair; sonar; stochastic process; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438529