Sensor-Based Self-Localization for Wheeled Mobile Robots

Curran, A; Kyriakopoulos, K

dc.contributor.author	Curran, A	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:48:10Z
dc.date.available	2014-03-01T02:48:10Z
dc.date.issued	1993	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33598
dc.subject	Dead Reckoning	en
dc.subject	extended kalman filter	en
dc.subject	Indoor Environment	en
dc.subject	Infrared	en
dc.subject	Mobile Robot	en
dc.subject	Wheeled Mobile Robot	en
dc.title	Sensor-Based Self-Localization for Wheeled Mobile Robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1993.291954	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1993.291954	en
heal.publicationDate	1993	en
heal.abstract	A reliable and robust algorithm for localizing a mobile robot in an indoor environment that is relatively consistent with an a priori map is demonstrated. The algorithm uses an extended Kalman filter that combines dead-reckoning, ultrasonic, and infrared sensor data to estimate current position and orientation. Through a thresholding approach, unexpected obstacles can be detected. Experimental results from implementation in	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1993.291954	en