By Topic

Low level sensor fusion for autonomous mobile robot navigation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
C. Tarin ; Dept. of Meas. Control & Microtechnol., Ulm Univ., Germany ; H. Brugger ; R. Moscardo ; B. Tibken
more authors

In this paper the development of a low-cost high precision navigation system for the autonomous mobile robot B21 is reported. True accelerometers providing not predictable time varying off-set errors have been additionally mounted on the robot to cope with the wheel skid and the wheel tracking error problems. The motor encoders of the B21 are reliable for indoor operation only if the former problems are not present. Therefore both sensor data have to be fused to obtain a satisfactory position estimate. This sensor fusion is implemented in the designed navigation system which combines low level sensor fusion with known statistics and rule-based sensor fusion. An improvement of the short and long term position estimate has been achieved

Published in:

Instrumentation and Measurement Technology Conference, 1999. IMTC/99. Proceedings of the 16th IEEE  (Volume:3 )

Date of Conference: