DocumentCode
447599
Title
Mobile robot localization by multi sensor fusion and constraint propagation
Author
Delafosse, Mélanie ; Clerentin, Arnaud ; Delahoche, Laurent ; Brassart, Eric ; Marhic, Bruno
Author_Institution
Departemente Informatique, Univ. de Picardie Jules-Verne, Amiens, France
Volume
1
fYear
2004
fDate
4-7 May 2004
Firstpage
65
Abstract
This paper deals with a mobile robot localization method based on constraint propagation on intervals. The mobile robot is equipped with an exteroceptive sensor and dead-reckoning. These two sensors give imprecise data that are modeled by intervals. These data are fused by constraint propagation on intervals. So, at the end of the localization process, we get a 3-D subpaving which is supposed to contain the robot´s position in a guaranteed way. The localization imprecision is naturally managed by our method.
Keywords
mobile robots; path planning; sensor fusion; sensors; 3D subpaving; constraint propagation; dead-reckoning; exteroceptive sensor; mobile robot localization; multisensor fusion; Equations; Gaussian noise; Mobile robots; Noise measurement; Robot localization; Robot sensing systems; Robustness; Sensor fusion; State estimation; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 2004 IEEE International Symposium on
Print_ISBN
0-7803-8304-4
Type
conf
DOI
10.1109/ISIE.2004.1571783
Filename
1571783
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