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Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots
This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer re...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Molecular Diversity Preservation International (MDPI)
2013
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3859113/ https://www.ncbi.nlm.nih.gov/pubmed/24152933 http://dx.doi.org/10.3390/s131014133 |
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author | Marín, Leonardo Vallés, Marina Soriano, Ángel Valera, Ángel Albertos, Pedro |
author_facet | Marín, Leonardo Vallés, Marina Soriano, Ángel Valera, Ángel Albertos, Pedro |
author_sort | Marín, Leonardo |
collection | PubMed |
description | This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. |
format | Online Article Text |
id | pubmed-3859113 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2013 |
publisher | Molecular Diversity Preservation International (MDPI) |
record_format | MEDLINE/PubMed |
spelling | pubmed-38591132013-12-11 Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots Marín, Leonardo Vallés, Marina Soriano, Ángel Valera, Ángel Albertos, Pedro Sensors (Basel) Article This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. Molecular Diversity Preservation International (MDPI) 2013-10-21 /pmc/articles/PMC3859113/ /pubmed/24152933 http://dx.doi.org/10.3390/s131014133 Text en © 2013 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 Marín, Leonardo Vallés, Marina Soriano, Ángel Valera, Ángel Albertos, Pedro Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots |
title | Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots |
title_full | Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots |
title_fullStr | Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots |
title_full_unstemmed | Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots |
title_short | Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots |
title_sort | multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3859113/ https://www.ncbi.nlm.nih.gov/pubmed/24152933 http://dx.doi.org/10.3390/s131014133 |
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