- Tytuł:
- Localization of the Wheeled Mobile Robot Based on Multi-Sensor Data Fusion
- Autorzy:
-
Jaroszek, P.
Trojnacki, M. - Powiązania:
- https://bibliotekanauki.pl/articles/384395.pdf
- Data publikacji:
- 2015
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
wheeled mobile robot
localization
environment map
laser scanner
inertial measurement unit
odometry
data fusion
Monte Carlo localization method - Opis:
- 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.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 3; 73-84
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł