Title :
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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506901