Localization by DKF Multi Sensor Fusion in the Uncertain Environments for Mobile Robot

نویسندگان

  • Omid Sojodishijani
  • Saeed Ebrahimijam
چکیده

This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted wellknown discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments. Keywords—Discrete Kalman filter, odometry sensor, omnidirectional vision sensor, Robot Localization.

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تاریخ انتشار 2009