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Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance
Electronics Department, Higher Polytechnic School, University of Alcala, Alcalá de Henares 28805 Madrid, Spain
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Received: 18 July 2011; in revised form: 20 August 2011 / Accepted: 21 August 2011 / Published: 29 August 2011
Abstract: 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.
Keywords: Kalman filter; sensor fusion; intelligent robots; data processing; robot control; laser application; dead reckoning; state estimation; multirobot system; robot sensing system
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MDPI and ACS Style
Espinosa, F.; Santos, C.; Marrón-Romera, M.; Pizarro, D.; Valdés, F.; Dongil, J. Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance. Sensors 2011, 11, 8339-8357.
Espinosa F, Santos C, Marrón-Romera M, Pizarro D, Valdés F, Dongil J. Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance. Sensors. 2011; 11(9):8339-8357.
Espinosa, Felipe; Santos, Carlos; Marrón-Romera, Marta; Pizarro, Daniel; Valdés, Fernando; Dongil, Javier. 2011. "Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance." Sensors 11, no. 9: 8339-8357.