Hybrid localization approach of a bi-steerable mobile robot based on grids matching and extended Kalman filter

被引：0
|
作者：
Bouraine, S. [1 ]
Djekoune, A. O. [1 ]
Azouaui, O. [1 ]
机构：
[1] Ctr Dev Technol Avancees, Baba Hassen, Alger, Algeria
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS | 2008年
关键词：
Mobiles Robots; Localization; grids matching; Extended Kalman Filter and Certainty grid;
D O I：
10.1109/ITSC.2008.4732674
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a mobile robot self localization method used to determine the position of the mobile robot Robucar. The localization approach is based on using both grids matching method and Extended Kalman Filter (EKF) method. The grids matching method provides accurate results but requires a large computational time that is why the EKF is introduced. EKF fuses odometric data and laser data to estimate the robot position. The developed algorithms are implemented and tested on the mobile robot Robucar.
引用
收藏
页码：1136 / 1141
页数：6
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