Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

Sensors

Felipe Espinosa¹  Carlos Santos²  Marta Marrón-Romera²  Daniel Pizarro²  Fernando Valdés² 

[1] Electronics Department, Higher Polytechnic School, University of Alcala, Alcalá de Henares 28805 Madrid, Spain;

关键词: Kalman filter;    sensor fusion;    intelligent robots;    data processing;    robot control;    laser application;    dead reckoning;    state estimation;    multirobot system;    robot sensing system;   

DOI  :  10.3390/s110908339

来源: mdpi

【 摘 要 】

This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.

【 授权许可】

CC BY   
© 2011 by the authors; licensee MDPI, Basel, Switzerland.