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Sonar Sensor Models and Their Application to Mobile Robot Localization

This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sen...

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Detalles Bibliográficos
Autores principales: Burguera, Antoni, González, Yolanda, Oliver, Gabriel
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2009
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3267219/
https://www.ncbi.nlm.nih.gov/pubmed/22303171
http://dx.doi.org/10.3390/s91210217
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author Burguera, Antoni
González, Yolanda
Oliver, Gabriel
author_facet Burguera, Antoni
González, Yolanda
Oliver, Gabriel
author_sort Burguera, Antoni
collection PubMed
description This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visual inspection.
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spelling pubmed-32672192012-02-02 Sonar Sensor Models and Their Application to Mobile Robot Localization Burguera, Antoni González, Yolanda Oliver, Gabriel Sensors (Basel) Article This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visual inspection. Molecular Diversity Preservation International (MDPI) 2009-12-17 /pmc/articles/PMC3267219/ /pubmed/22303171 http://dx.doi.org/10.3390/s91210217 Text en © 2009 by the authors; licensee Molecular Diversity Preservation International, 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
Burguera, Antoni
González, Yolanda
Oliver, Gabriel
Sonar Sensor Models and Their Application to Mobile Robot Localization
title Sonar Sensor Models and Their Application to Mobile Robot Localization
title_full Sonar Sensor Models and Their Application to Mobile Robot Localization
title_fullStr Sonar Sensor Models and Their Application to Mobile Robot Localization
title_full_unstemmed Sonar Sensor Models and Their Application to Mobile Robot Localization
title_short Sonar Sensor Models and Their Application to Mobile Robot Localization
title_sort sonar sensor models and their application to mobile robot localization
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3267219/
https://www.ncbi.nlm.nih.gov/pubmed/22303171
http://dx.doi.org/10.3390/s91210217
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