TY - GEN
T1 - Sensor-based self-localization for wheeled mobile robots
AU - Curran, A.
AU - Kyriakopolous, K. J.
PY - 1993
Y1 - 1993
N2 - In this paper, we demonstrate a reliable and robust algorithm to localize a mobile robot in a relatively consistent with an a priori map indoors environment. This algorithm uses an Extended Kalman Filter that combines deadreckoning, ultrasonic, and infrared sensor data to estimate current position and orientation. Through a thresholding approach, unexpected obstacles can be detected. Experimental results from implementation on our mobile robot, Nomad-200, are also presented.
AB - In this paper, we demonstrate a reliable and robust algorithm to localize a mobile robot in a relatively consistent with an a priori map indoors environment. This algorithm uses an Extended Kalman Filter that combines deadreckoning, ultrasonic, and infrared sensor data to estimate current position and orientation. Through a thresholding approach, unexpected obstacles can be detected. Experimental results from implementation on our mobile robot, Nomad-200, are also presented.
UR - http://www.scopus.com/inward/record.url?scp=0027303566&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027303566&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027303566
SN - 0818634529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8
EP - 13
BT - Proceedings - IEEE International Conference on Robotics and Automation
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the IEEE International Conference on Robotics and Automation
Y2 - 2 May 1993 through 6 May 1993
ER -