Title :
Mobile robot navigation using sensor fusion
Author :
Lizarralde, Fernando ; Nunes, Eduardo V L ; Hsu, Liu ; Wen, John T.
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Brazil
Abstract :
This paper considers the localization and navigation of a mobile robot. The control strategy is based on a nonlinear model predictive control technique that utilizes the Newton method. The robot localization is obtained using information from odometric and ultrasonic sensors through a Kalman filter. Simulation and experimental results illustrate the efficacy of the proposed method.
Keywords :
Kalman filters; Newton method; distance measurement; mobile robots; motion control; navigation; nonlinear control systems; path planning; predictive control; sensor fusion; Kalman filter; Newton method; mobile robot navigation; nonlinear model predictive control technique; odometric sensors; robot localization; robot motion control; sensor fusion; ultrasonic sensors; Control systems; Mobile robots; Navigation; Newton method; Open loop systems; Optimal control; Robot control; Robot sensing systems; Sensor fusion; Wheels;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241637
