Robust multi-sensor system for mobile robot localization

TítuloRobust multi-sensor system for mobile robot localization
AutoresA. Canedo-Rodríguez, V. Álvarez-Santos, D. Santos-Saavedra, C. Gamallo, M. Fernández-Delgado, R. Iglesias, C.V. Regueiro
TipoComunicación para congreso
Fonte 5th International Work-conference on the Interplay between Natural and Artificial Computation, Mallorca (Spain), Springer-Verlag, pp. 92-101 , 2013.
ISBN978-3-642-38621-3
ISSN0302-9743
DOI10.1007/978-3-642-38622-0_10
AbstractIn this paper, we propose a localization system that can combine data supplied by different sensors, even if they are not synchronized, or if they do not provide data at all times. Particularly, we have used the following sensors: a 2D laser range finder, a Wi-Fi positioning system (designed by us), and a magnetic compass. Real world experiments have shown that our algorithm is accurate, robust, and fast, and that it can take advantage of the strengths of each sensor, and minimise its weaknesses.
Palabras chaveSensor fusion, Robot localization, Wi-Fi positioning, Particle filter

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