Details
| Original language | English |
|---|---|
| Pages (from-to) | 867-872 |
| Number of pages | 6 |
| Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 39 |
| Issue number | 16 |
| Publication status | Published - 2006 |
| Event | 4th IFAC Symposium on Mechatronic Systems, MX 2006 - Heidelberg, Germany Duration: 12 Sept 2006 → 14 Sept 2006 |
Abstract
This paper deals with a data fusion algorithm for wheeled mobile robot localization using data from multiple localization systems. One is dead reckoning, which is subject to different systematic and random errors, summing up over time. Still, it offers high resolution in the close-up range and by data fusion with a landmark-based low resolution localization system qualifies for high accuracy path control. Here a data fusion algorithm is developed, which chooses the more reliable data source providing smooth transitions. Furthermore the system makes use of time spans when the availability of both systems is high to improve the quality of the position estimation. The parameters of the error correction algorithm are continuously estimated by a recursive least squares algorithm. The methodology is applied to a 4-wheel omnidirectional wmr. A significant improvement of precision in position estimation against simple dead reckoning can be shown.
Keywords
- Data fusion, Localization, Recursive least squares, Wheeled mobile robot
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 39, No. 16, 2006, p. 867-872.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - A rule based data fusion scheme for wheeled mobile robot localization
AU - Blume, Holger
AU - Abelbeck, Frank
AU - Heimann, Bodo
PY - 2006
Y1 - 2006
N2 - This paper deals with a data fusion algorithm for wheeled mobile robot localization using data from multiple localization systems. One is dead reckoning, which is subject to different systematic and random errors, summing up over time. Still, it offers high resolution in the close-up range and by data fusion with a landmark-based low resolution localization system qualifies for high accuracy path control. Here a data fusion algorithm is developed, which chooses the more reliable data source providing smooth transitions. Furthermore the system makes use of time spans when the availability of both systems is high to improve the quality of the position estimation. The parameters of the error correction algorithm are continuously estimated by a recursive least squares algorithm. The methodology is applied to a 4-wheel omnidirectional wmr. A significant improvement of precision in position estimation against simple dead reckoning can be shown.
AB - This paper deals with a data fusion algorithm for wheeled mobile robot localization using data from multiple localization systems. One is dead reckoning, which is subject to different systematic and random errors, summing up over time. Still, it offers high resolution in the close-up range and by data fusion with a landmark-based low resolution localization system qualifies for high accuracy path control. Here a data fusion algorithm is developed, which chooses the more reliable data source providing smooth transitions. Furthermore the system makes use of time spans when the availability of both systems is high to improve the quality of the position estimation. The parameters of the error correction algorithm are continuously estimated by a recursive least squares algorithm. The methodology is applied to a 4-wheel omnidirectional wmr. A significant improvement of precision in position estimation against simple dead reckoning can be shown.
KW - Data fusion
KW - Localization
KW - Recursive least squares
KW - Wheeled mobile robot
UR - http://www.scopus.com/inward/record.url?scp=79961158297&partnerID=8YFLogxK
U2 - 10.3182/20060912-3-DE-2911.00149
DO - 10.3182/20060912-3-DE-2911.00149
M3 - Conference article
AN - SCOPUS:79961158297
VL - 39
SP - 867
EP - 872
JO - IFAC Proceedings Volumes (IFAC-PapersOnline)
JF - IFAC Proceedings Volumes (IFAC-PapersOnline)
SN - 1474-6670
IS - 16
T2 - 4th IFAC Symposium on Mechatronic Systems, MX 2006
Y2 - 12 September 2006 through 14 September 2006
ER -