English
Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots
Leonardo Marín - Universidad Politécnica de Valencia
Marina Vallés, Universidad Politécnica de Valencia
Ángel Soriano, Universidad Politécnica de Valencia
Ángel Valera, Universidad Politécnica de Valencia
Pedro Albertos, Universidad Politécnica de Valencia
Ángel Soriano, Universidad Politécnica de Valencia
Ángel Valera, Universidad Politécnica de Valencia
Pedro Albertos, Universidad Politécnica de Valencia
(in lingua inglese)
An efficient sensor fusion framework using the event based KF with a particle dynamical model of a differential wheel mobile robot for indoors navigation and an Ackermann mobile robot for outdoor navigation, have been presented as a solution for the localization problem. The results show that the performance of the proposed sensor fusion framework is similar to those obtained by using more complex EKF and UKF strategies with time based update and larger state and measurement vectors, but with a faster execution and less memory usage, allowing the implementation of the algorithm inside a limited resource robot while leaving enough resources for other tasks that must be executed inside the robot.
Leggi tuttoFonte: Pubblicazione Sensors, 2013
Mercati: Industria manifatturiera
Parole chiave: Robot, Sensoristica
