Fusing Range Measurements from Ultrasonic Beacons and a Laser Range Finder for Localization of a Mobile Robot
نویسندگان
چکیده
منابع مشابه
Fusing Range Measurements from Ultrasonic Beacons and a Laser Range Finder for Localization of a Mobile Robot
This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robot to the walls surrounding the robot measured by a laser range finder (LRF). For the fusion, the unscented Kalman filter (UKF) is utilized. Because...
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ژورنال
عنوان ژورنال: Sensors
سال: 2015
ISSN: 1424-8220
DOI: 10.3390/s150511050