Design and experimental validation of an odometric and goniometric localization system for outdoor robot vehicles

被引：29

作者：

Bonnifait, P ^{[1
]}

Garcia, G ^{[1
]}

机构：

[1] Inst Rech Cybernet Nantes, F-44321 Nantes, France

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1998年 / 14卷 / 04期

关键词：

dynamic localization; Kalman filtering; multisensor integration; nonlinear observability; optical triangulation system; outdoor mobile robot;

D O I：

10.1109/70.704218

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A two-dimensional (2-D) mobile robot localization system which uses odometry and the azimuth angles of known landmarks is presented. Observability analysis helps to determine situations where such a system may undergo difficulties, and gives information on its behavior when one of the beacons is hidden. Experimental results are presented.

引用

页码：541 / 548

页数：8

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