DocumentCode
1406777
Title
Design and experimental validation of an odometric and goniometric localization system for outdoor robot vehicles
Author
Bonnifait, Philippe ; Garcia, Gaetan
Author_Institution
Inst. de Recherche en Cybern. de Nantes, France
Volume
14
Issue
4
fYear
1998
fDate
8/1/1998 12:00:00 AM
Firstpage
541
Lastpage
548
Abstract
A 2D mobile robot localization system which uses odometry and the azimuth angles of known landmarks is presented. Observability analysis helps to determine situations where such a system may undergo difficulties, and gives information on its behavior when one of the beacons is hidden. Experimental results are presented
Keywords
CCD image sensors; Kalman filters; mobile robots; navigation; nonlinear systems; observability; position control; robot dynamics; sensor fusion; CCD image sensors; Kalman filtering; azimuth angles; goniometric localization; multiple sensor fusion; nonlinear systems; observability; odometric localization; optical triangulation systems; outdoor mobile robot; Azimuth; Dead reckoning; Global Positioning System; Kalman filters; Mobile robots; Nonlinear optics; Observability; Optical filters; Optical sensors; Vehicles;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.704218
Filename
704218
Link To Document