Laser pose estimation and tracking using fuzzy extended information filtering for an autonomous mobile robot

被引：7
|
作者：
Lin, Hung-Hsing [2 ]
Tsai, Ching-Chih [1 ]
机构：
[1] Natl Chung Hsing Univ, Dept Elect Engn, Taichung 40227, Taiwan
[2] Hsiuping Inst Technol, Dept Elect Engn, Taichung 41280, Taiwan
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2008年 / 53卷 / 02期
关键词：
extended information filtering (EIF); fuzzy logics; laser scanner; mobile robot; self-localization; posture tracking; sensor fusion;
D O I：
10.1007/s10846-008-9234-5
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents methodologies and techniques for posture estimation and tracking of an autonomous mobile robot (AMR) using a laser scanner with at least three retro-reflectors. A three-point laser triangulation method is presented to find an initial posture of the robot and then a fuzzy extended information filtering (FEIF) method is used to improve the accuracy of the robot's posture estimation. With the odometric information from the driving wheels, a FEIF-based posture tracking algorithm is proposed to continuously keep trace of the robot's posture at slow speeds. Simulation and experimental results are conducted to show the efficacy and usefulness of the proposed methods.
引用
收藏
页码：119 / 143
页数：25
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