Abstract
In this paper, we demonstrate a reliable and robust system for localization of mobile robots in indoors environments which are relatively consistent to a priori known maps. Through the use of an Extended Kalman Filter combining dead-reckoning, ultrasonic, and infrared sensor data, estimation of the position and orientation of the robot is achieved. Based on a thresholding approach, unexpected obstacles can be detected and their motion predicted. Experimental results from implementation on our mobile robot, Nomad-200, are also presented.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 239-258 |
| Number of pages | 20 |
| Journal | Journal of Intelligent & Robotic Systems |
| Volume | 12 |
| Issue number | 3 |
| DOIs | |
| State | Published - Oct 1995 |
Keywords
- Mobile robot
- ultrasonic navigation
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering