- Conference Paper
In this work a complete algorithm is given, to localize a mobile robot in a partial variable environment. This algorithm uses an extended Kalman filter in order to combine odometric and sonar data. Two kinds of map are adopted, in order to take into account the partial variability of the environment, the former is used to localize the robot, the latter for motion planning purposes. The localization process is carried out while the robot is in motion. The experiments have been performed using a mobile robot Nomad150 in indoor environments. Show more
Book title6th IFAC Symposium on Robot Control (SYROCO 2000)
Journal / seriesIFAC Proceedings Volumes
Pages / Article No.
SubjectKalman filters; Sensor fusion; Robot localization; Motion planning; Dynamic environment
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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