Title :
“OXNAV”: reliable autonomous navigation
Author :
Stevens, Andrew ; Stevens, Michael ; Whyte, Hugh Durrant
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
A novel Kalman filter based sonar navigation system is presented that utilises directed sensing techniques to achieve continuous indoor localisation of a mobile robot. Data from extensive trials is summarised demonstrating continuous, reliable, localisation using this system in a wide variety of active industrial sites. Full details of experimental method and performance assessment are given
Keywords :
Kalman filters; distance measurement; mobile robots; path planning; position measurement; sonar; tracking filters; Kalman filter based sonar navigation system; OXNAV; active industrial sites; continuous indoor localisation; directed sensing techniques; experimental method; mobile robot; performance assessment; reliable autonomous navigation; Filters; Maintenance; Mobile robots; Noise robustness; Reliability engineering; Remotely operated vehicles; Robot sensing systems; Sonar navigation; Target tracking; Working environment noise;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525650
