Implementation of the Particle Filter in an embedded system for the localization of a differential mobile robot

被引：0

作者：

Fortes, Luciano L. S. ^{[1
]}

Rocha, Eduardo M. ^{[1
]}

da Silva, Joabe R. ^{[1
]}

Ayres, Lucas M. ^{[1
]}

Cuadros, Marco A. S. L. ^{[1
]}

Freitas, Ricardo ^{[1
]}

机构：

[1] Inst Fed Espirito Santo, Serra, Brazil

来源：

2018 13TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON) | 2018年

关键词：

Particle Filter; LabVIEW (TM); Localization; Mobile Robots; Embedded System; NAVIGATION;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This present work proposes the implementation of the particle filter in an embedded system to estimate the global location of a non-holonomic mobile robot in a structured environment. The algorithm developed in LabVIEW (TM) software combines probabilistic models of the robot and its movement and is based on the information of an ultrasonic sensor to estimate the global pose of the robot. At the end of the article, simulated and practical results, conclusions and recommendations are presented.

引用

页码：399 / 406

页数：8

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