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Sensors 2011, 11(9), 8339-8357; doi:10.3390/s110908339
Article

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

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Received: 18 July 2011; in revised form: 20 August 2011 / Accepted: 21 August 2011 / Published: 29 August 2011
(This article belongs to the Special Issue Collaborative Sensors)
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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 Kalman filter; sensor fusion; intelligent robots; data processing; robot control; laser application; dead reckoning; state estimation; multirobot system; robot sensing system
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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.

AMA 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(9):8339-8357.

Chicago/Turabian Style

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.


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