Sonar Sensor Models and Their Application to Mobile Robot Localization
نویسندگان
چکیده
منابع مشابه
Sonar Sensor Models and Their Application to Mobile Robot Localization
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...
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1.1 The localization problem Nowadays, nearly all mobile robotic tasks require some knowledge of the robot location in the environment. For example, those tasks involving the robot to reach a specific target require knowledge about the current robot pose in order to plan a path to the goal. Also, exploration tasks require some estimate of the robot pose in order to decide whether a specific reg...
متن کاملMobile Robot Sonar for Target Localization and Classification
A novel sonar array is presented that has applications in mobile robotics for localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within a millimeter and 0.1 degrees in still air. Targets separated by 10 mm i...
متن کاملMobile Robot Sonar for Target Localization and Classification1
A novel sonar array is presented that has applications in mobile robotics for localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within a millimeter and 0.1 degrees in still air. Targets separated by 10 mm i...
متن کاملSensor Data Fusion Architecture for a Mobile Robot Application Using SIFT and Sonar Measurements
This paper presents and analyses the architecture of a process that can be used for map building and path planning purposes. This takes into account the uncertainty inherent in sensor measurements. To this end, Bayesian estimation and Dempster-Shafer evidential theory are used to fuse the sensory information and to update occupancy and evidential grid maps, respectively. The sensory information...
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ژورنال
عنوان ژورنال: Sensors
سال: 2009
ISSN: 1424-8220
DOI: 10.3390/s91210217