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• González, Y
• Oliver, G
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• González, Y
• Oliver, G
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• González, Y
• Oliver, G

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Sensors 2009, 9(12), 10217-10243; doi:10.3390/s91210217

Article

Sonar Sensor Models and Their Application to Mobile Robot Localization

Antoni Burguera* , Yolanda González and Gabriel Oliver

Department de Matemàtiques i Informàtica, Universitat de les Illes Balears, Ctra. de Valldemosa Km. 7.5, E-07122 Palma de Mallorca, Spain

* Author to whom correspondence should be addressed.

Received: 2 November 2009; in revised form: 18 November 2009 / Accepted: 14 December 2009 / Published: 17 December 2009

(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain)

Download PDF Full-Text [3508 KB, uploaded 21 December 2009 14:15 CET]

Abstract: This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visual inspection.

Keywords: sonar; mobile robot localization; particle filter

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