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Multi-Sensor Perceptual System for Mobile Robot and Sensor Fusion-Based Localization

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.

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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.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: GPS;Kalman filter;data fusion;laser range finder;localization;omni-camera;sensor;sensor fusion;sonar
Subjects: Electronics and Communications
?? Electronics ??
Electronics and Communications > Electronics and Computer Engineering
Divisions: Faculty of Electronics and Telecommunications (FET)
Key Laboratory for Smart Integrated Systems (SISLAB)
Depositing User: Prof. Xuan-Tu Tran
Date Deposited: 27 Mar 2013 06:15
Last Modified: 12 Nov 2015 07:54

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