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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lei Cheng Yongji Wang |
| Copyright Year | 2003 |
| Description | Author affiliation: Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China (Lei Cheng; Yongji Wang) |
| Abstract | This paper emphasizes on the sensor fusion algorithm on mobile robot's localization, to solve the problem of accumulated error attributed to wheel encoders and redundant readings in multi-sonar system. Based on the error analysis of wheel encoders and sonar, a new integrated intelligent sensor fusion algorithm is introduced, the novel core of such algorithm is error judgement rule. With this technique, the mobile robot can autonomously correct its position in proper time. As demonstration, an experiment on the Pioneer II mobile robot has been completed. Pioneer II is an intelligent mobile robotic platform manufactured by ActivMedia Corporation, it is equipped with an internal wheel encoders and a full-span sonar ring. The experiment result shows that such algorithm not only avoids the error accumulation with regard to wheel encoders, but also guarantees the motion speed of robot. |
| Sponsorship | IEEE Control Syst. Soc |
| Starting Page | 822 |
| Ending Page | 826 |
| File Size | 320184 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780378911 |
| ISSN | 21589860 |
| DOI | 10.1109/ISIC.2003.1254742 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-10-08 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mobile robots Sensor fusion Wheels Sonar Robot kinematics Intelligent sensors Intelligent robots Signal processing algorithms Robot sensing systems Error analysis |
| Content Type | Text |
| Resource Type | Article |
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