Izvorni znanstveni članak
Sonar-based Pose Tracking of Indoor Mobile Robots
Edouard Ivanjko
Ivan Petrović
Mario Vašak
Sažetak
In order to perform useful tasks the mobile robot's current pose must be accurately known. Problem of finding and tracking the mobile robot's pose is called localization, and can be global or local. In this paper we address the problem of mobile robot's local localization or pose tracking with prerequisites of known starting pose, robot kinematics and world model. Pose tracking is mostly based on odometry, which has the problem of accumulating errors in an unbounded fashion. To overcome this problem sensor fusion is commonly used. This paper describes a simple odometry calibration method and compares two fusion methods of calibrated odometry data and sonar range data fusion based on a Kalman Filter framework. One fusion method is based on the standard Extended Kalman Filter and another one, proposed in this paper, on the Unscented Kalman Filter. Occupancy grid map is used as the world model, which is beneficial because only sonars' range measurement uncertainty has to be considered. If a feature-based map is used, as the world model, then an additional uncertainty regarding the feature/range reading assignment must be also considered. Experimental results obtained with the Pioneer 2DX mobile robot (manufacturer ActivMedia Robotics) show that better accuracy of pose estimation and smoother robot motion can be obtained with Unscented Kalman Filter.
Ključne riječi
non-linear Kalman Filter; mobile robot; localization; occupancy grid map
Hrčak ID:
6819
URI
Datum izdavanja:
29.12.2004.
Posjeta: 3.146 *