Development of a multi-sensor perceptual system for mobile robot and EKF-based localization

Development of a multi-sensor perceptual system for mobile robot and EKF-based localization

This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model to obtain meaningful information for the robot localization...

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Bibliographic Details
Main Authors: Hoang, T. T, Duong, P. M, Van, N.T. T, Viet, D. A, Vinh, T. Q
Other Authors: The 2012 International Conference on Systems and Informatics, ICSAI 2012.
Format: Conference paper
Language:English
Published: IEEE 2019
Subjects:
Mobile robot
Sensor
Sensor fusion
Localization
Laser range finder
Omni-camera
GPS
Sonar
Kalman filter
Online Access:http://repository.vnu.edu.vn/handle/VNU_123/64076
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Institution: Vietnam National University, Hanoi
Language: English
Description
Summary:This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model to obtain meaningful information for the robot localization and control. Dueto the uncertainties of acquiring data, an extended Kalman filter was applied to get optimal states of the system. Several experiments have been conducted and the results confirmed the functioning operation of the perceptual system and the efficiency of the Kalman filter approach.

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