eprintid: 139
rev_number: 11
eprint_status: archive
userid: 4
dir: disk0/00/00/01/39
datestamp: 2013-03-27 06:15:17
lastmod: 2015-11-12 07:54:06
status_changed: 2013-03-27 06:15:17
type: conference_item
metadata_visibility: show
creators_name: Tran, Thuan Hoang
creators_name: Phung, Manh Duong
creators_name: Nguyen, Thi Thanh Van
creators_name: Dang, Anh Viet
creators_name: Tran, Quang Vinh
creators_id: duongpm@vnu.edu.vn
creators_id: vanntt@vnu.edu.vn
creators_id: vietda@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
title: Multi-Sensor Perceptual System for Mobile Robot and Sensor Fusion-Based Localization
ispublished: pub
subjects: ECE
subjects: Electronics
subjects: ElectronicsandComputerEngineering
divisions: fac_fet
divisions: lab_sis
keywords: GPS;Kalman filter;data fusion;laser range finder;localization;omni-camera;sensor;sensor fusion;sonar
abstract: This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing the kinematic model of the robot as well as estimating the input noise covariance matrix as being proportional to the wheel's angular speed. At the correction step, the measurements from all sensors including incremental pulses of the encoders, line segments of the LRF, robot orientation of the compass and deflection angular of the omni-directional camera are fused. Experiments in an indoor structured environment were implemented and the good localization results prove the effectiveness and applicability of the algorithm.
date: 2012-11-26
date_type: published
full_text_status: none
pres_type: paper
pagerange: 259-264
event_title: 2012 International Conference on Control, Automation and Information Sciences (ICCAIS)
event_location: Ho Chi Minh city
event_dates: 26-29 November 2012
event_type: conference
refereed: TRUE
citation:   Tran, Thuan Hoang and Phung, Manh Duong and Nguyen, Thi Thanh Van and Dang, Anh Viet and Tran, Quang Vinh  (2012) Multi-Sensor Perceptual System for Mobile Robot and Sensor Fusion-Based Localization.  In: 2012 International Conference on Control, Automation and Information Sciences (ICCAIS), 26-29 November 2012, Ho Chi Minh city.