Multisensor fusion for mobile robot positioning and navigation
dc.contributor.author
Martinelli, Agostino
dc.contributor.author
Martinelli, Francesco
dc.contributor.author
Nicosia, Salvatore
dc.contributor.author
Valigi, Paolo
dc.contributor.editor
Kopacek, Peter
dc.date.accessioned
2021-07-29T05:59:39Z
dc.date.available
2017-06-11T06:40:01Z
dc.date.available
2018-09-13T13:59:22Z
dc.date.available
2021-07-29T05:59:39Z
dc.date.issued
2000-09
dc.identifier.isbn
978-0-08-043561-9
en_US
dc.identifier.issn
1474-6670
dc.identifier.other
10.1016/S1474-6670(17)38013-8
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/82220
dc.description.abstract
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.
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.subject
Kalman filters
en_US
dc.subject
Sensor fusion
en_US
dc.subject
Robot localization
en_US
dc.subject
Motion planning
en_US
dc.subject
Dynamic environment
en_US
dc.title
Multisensor fusion for mobile robot positioning and navigation
en_US
dc.type
Conference Paper
dc.date.published
2017-05-23
ethz.book.title
6th IFAC Symposium on Robot Control (SYROCO 2000)
en_US
ethz.journal.title
IFAC Proceedings Volumes
ethz.journal.volume
33
en_US
ethz.journal.issue
27
en_US
ethz.pages.start
699
en_US
ethz.pages.end
704
en_US
ethz.event
6th IFAC Symposium on Robot Control (SYROCO 2000)
en_US
ethz.event.location
Vienna, Austria
en_US
ethz.event.date
September 21-23, 2000
en_US
ethz.publication.place
Oxford
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-11T06:42:50Z
ethz.source
ECIT
ethz.identifier.importid
imp593651c2a7ac772942
ethz.ecitpid
pub:129528
ethz.eth
no
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-12T20:03:37Z
ethz.rosetta.lastUpdated
2022-03-29T10:47:56Z
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Multisensor%20fusion%20for%20mobile%20robot%20positioning%20and%20navigation&rft.jtitle=IFAC%20Proceedings%20Volumes&rft.date=2000-09&rft.volume=33&rft.issue=27&rft.spage=699&rft.epage=704&rft.issn=1474-6670&rft.au=Martinelli,%20Agostino&Martinelli,%20Francesco&Nicosia,%20Salvatore&Valigi,%20Paolo&rft.isbn=978-0-08-043561-9&rft.genre=proceeding&rft_id=info:doi/10.1016/S1474-6670(17)38013-8&rft.btitle=6th%20IFAC%20Symposium%20on%20Robot%20Control%20(SYROCO%202000)
Files in this item
| Files | Size | Format | Open in viewer |
|---|---|---|---|
|
There are no files associated with this item. |
|||
Publication type
-
Conference Paper [35788]