Title :
Autonomous mobile robot localization based on multisensor fusion approach
Author :
Luo, Ren C. ; Hsu, Wei-Lung
Author_Institution :
Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
The objective of this paper is to develop a multisensor fusion approach based on particle filter for autonomous mobile robot localization. Sensors used here are ultrasonic sensor and received signal strength (RSS) which is a byproduct of ZigBee communication device. Both two sensors are inexpensive compared with other range sensors.
Keywords :
Zigbee; mobile robots; particle filtering (numerical methods); path planning; pose estimation; position control; robot vision; sensor fusion; state estimation; state-space methods; telerobotics; ultrasonic devices; RSS localization system; RSS transform; ZigBee communication device; autonomous mobile robot localization; convergence time; dead-reckoning; mobile robot pose; multisensor fusion approach; particle filter; point mass; point weight; position estimation; probabilistic density; received signal strength; rotation error; state estimation; state-space method; transition error; triangular relation equation; ultrasonic localization system; ultrasonic sensor; Acoustics; Particle filters; Robot kinematics; Robot sensing systems; Sensor systems; RSS localization; particle filter; sensor fusion; ultrasonic localization;
Conference_Titel :
Industrial Electronics (ISIE), 2012 IEEE International Symposium on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-0159-6
Electronic_ISBN :
2163-5137
DOI :
10.1109/ISIE.2012.6237271
