Localization of the Wheeled Mobile Robot Based on Multi-Sensor Data Fusion

• Autorzy: Jaroszek P. , Trojnacki M.

Identyfikatory

DOI

10.14313/JAMRIS_3-2015/26

• Języki publikacji: EN

Abstrakty

EN

The paper presents a method of localization of a mobile robot which relies on aggregation of data from several sensors. A review of the state of the art regarding methods of localization of ground mobile robots is presented. An overview of design of the four-wheeled mobile robot used for the research is given. The way of representation of robot environment in the form of maps is described. The localization algorithm which uses the Monte Carlo localization method is described. The simulation environment and results of simulation investigations are discussed. The measurement and control equipment of the robot is described and the obtained results of experimental investigations are presented. The obtained results of simulation and experimental investigations confirm the validity of the developed robot localization method. They are the foundation of further research, where additional sensors supporting the localization process could be used.

Słowa kluczowe

EN

wheeled mobile robot; localization; environment map; laser scanner; inertial measurement unit; odometry; data fusion; Monte Carlo localization method

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 3
• Strony: 73--84
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Jaroszek P.

• Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, 02-486, Poland

autor

Trojnacki M.

• Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, 02-486, Poland

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