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

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

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 t...

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Bibliographic Details
Main Authors: Fernando Valdés, Daniel Pizarro, Marta Marrón-Romera, Carlos Santos, Felipe Espinosa, Javier Dongil
Format: Article
Language:English
Published: MDPI AG 2011-08-01
Series:Sensors
Subjects:
Kalman filter
sensor fusion
intelligent robots
data processing
robot control
laser application
dead reckoning
state estimation
multirobot system
robot sensing system
Online Access:http://www.mdpi.com/1424-8220/11/9/8339/

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http://www.mdpi.com/1424-8220/11/9/8339/

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