|
Titre :
|
Ultrasonic navigation for a wheeled nonholonomic vehicle
|
|
Auteurs :
|
A. Curran ;
K. Kyriakopoulos
|
|
Type de document :
|
article/chapitre/communication
|
|
Année de publication :
|
1995
|
|
Format :
|
p.239-258
|
|
Langues:
|
= Anglais
|
|
Catégories :
|
INFORMATIQUE-MESURES
|
|
Mots-clés:
|
ULTRASON
;
ROBOTIQUE MOBILE
;
DETECTION D'OBSTACLE
;
NAVIGATION
;
LOCALISATION GPS
|
|
Résumé :
|
In this paper, we demonstrate a reliable and robust system for localization of mobile robots in indoors environments which are relatively consistent to a priori known maps. Through the use of an Extended Kalman Filter combining dead-reckoning, ultrasonic and infrared sensor data, estimation of the position and orientation of the robot is achieved. Based on a thresholding approach, unexpected obstacles can be detected and their motion predicted.
|
|
Source :
|
Journal of intelligent and robotics systems, vol n°12
|
