Precise Localization of Mobile Robots via Odometry and Wireless Sensor Network

International Journal of Advanced Robotic Systems

关键词: Dead Reckoning;    Kalman Filter;    Mobile Robot Localization;    Wireless Sensor Network;   

DOI  :  10.5772/56217

学科分类：自动化工程

来源: InTech

【 摘 要 】

Precise localization of mobile robots in uncertain environments is a fundamental and crucial issue in robotics. In this paper, to deal with the unbounded accumulated errors of dead reckoning (DR)-based localization, wireless sensor network (WSN)-based localization is applied to calibrate the uncertainty of odometry using a Kalman filter (KF). In addition, to further aid in obtaining precise positions and reduce uncertainty, a novel backward dead reckoning (BDR) localization approach is proposed. The experimental results demonstrate the success and reliability of the proposed method.

【 授权许可】

CC BY