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Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance
This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on t...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Molecular Diversity Preservation International (MDPI)
2011
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231507/ https://www.ncbi.nlm.nih.gov/pubmed/22164079 http://dx.doi.org/10.3390/s110908339 |
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author | Espinosa, Felipe Santos, Carlos Marrón-Romera, Marta Pizarro, Daniel Valdés, Fernando Dongil, Javier |
author_facet | Espinosa, Felipe Santos, Carlos Marrón-Romera, Marta Pizarro, Daniel Valdés, Fernando Dongil, Javier |
author_sort | Espinosa, Felipe |
collection | PubMed |
description | This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications. |
format | Online Article Text |
id | pubmed-3231507 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2011 |
publisher | Molecular Diversity Preservation International (MDPI) |
record_format | MEDLINE/PubMed |
spelling | pubmed-32315072011-12-07 Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance Espinosa, Felipe Santos, Carlos Marrón-Romera, Marta Pizarro, Daniel Valdés, Fernando Dongil, Javier Sensors (Basel) Article This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications. Molecular Diversity Preservation International (MDPI) 2011-08-29 /pmc/articles/PMC3231507/ /pubmed/22164079 http://dx.doi.org/10.3390/s110908339 Text en © 2011 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/). |
spellingShingle | Article Espinosa, Felipe Santos, Carlos Marrón-Romera, Marta Pizarro, Daniel Valdés, Fernando Dongil, Javier Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance |
title | Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance |
title_full | Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance |
title_fullStr | Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance |
title_full_unstemmed | Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance |
title_short | Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance |
title_sort | odometry and laser scanner fusion based on a discrete extended kalman filter for robotic platooning guidance |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231507/ https://www.ncbi.nlm.nih.gov/pubmed/22164079 http://dx.doi.org/10.3390/s110908339 |
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