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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...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Molecular Diversity Preservation International (MDPI)
2009
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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. |
format | Online Article Text |
id | pubmed-3267219 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2009 |
publisher | Molecular Diversity Preservation International (MDPI) |
record_format | MEDLINE/PubMed |
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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