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

• 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
• Institution: Vietnam National University, Hanoi

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...