Next Article in Journal
MMP-2/9-Specific Activatable Lifetime Imaging Agent
Next Article in Special Issue
Modeling of Acoustic Emission Signal Propagation in Waveguides
Previous Article in Journal
Current Sensor Fault Diagnosis Based on a Sliding Mode Observer for PMSM Driven Systems
Previous Article in Special Issue
Enhanced Sensitive Love Wave Surface Acoustic Wave Sensor Designed for Immunoassay Formats
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(5), 11050-11075; doi:10.3390/s150511050

Fusing Range Measurements from Ultrasonic Beacons and a Laser Range Finder for Localization of a Mobile Robot

1
Department of Electronics Engineering, Chosun University, 375 Seosuk-dong Dong-gu, Gwangju 501-759, Korea
2
College of Information and Communication Engineering, Sungkyunkwan University, 300 Cheoncheon-dong Jangan-gu Suwon, Gyeonggi-do 440-746, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Leonhard M. Reindl
Received: 21 January 2015 / Revised: 26 April 2015 / Accepted: 5 May 2015 / Published: 11 May 2015
(This article belongs to the Special Issue Acoustic Waveguide Sensors)
View Full-Text   |   Download PDF [2230 KB, uploaded 11 May 2015]   |  

Abstract

This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robot to the walls surrounding the robot measured by a laser range finder (LRF). For the fusion, the unscented Kalman filter (UKF) is utilized. Because finding the Jacobian matrix is not feasible for range measurement using an LRF, UKF has an advantage in this situation over the extended KF. The locations of the beacons and range data from the beacons are available, whereas the correspondence of the range data to the beacon is not given. Therefore, the proposed method also deals with the problem of data association to determine which beacon corresponds to the given range data. The proposed approach is evaluated using different sets of design parameter values and is compared with the method that uses only an LRF or ultrasonic beacons. Comparative analysis shows that even though ultrasonic beacons are sparsely populated, have a large error and have a slow update rate, they improve the localization performance when fused with the LRF measurement. In addition, proper adjustment of the UKF design parameters is crucial for full utilization of the UKF approach for sensor fusion. This study contributes to the derivation of a UKF-based design methodology to fuse two exteroceptive measurements that are complementary to each other in localization. View Full-Text
Keywords: fusing measurements; mobile robot; laser range finder; ultrasonic beacons; data association; unscented Kalman filter fusing measurements; mobile robot; laser range finder; ultrasonic beacons; data association; unscented Kalman filter
Figures

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. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Ko, N.Y.; Kuc, T.-Y. Fusing Range Measurements from Ultrasonic Beacons and a Laser Range Finder for Localization of a Mobile Robot. Sensors 2015, 15, 11050-11075.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top