Robust multi-sensor system for mobile robot localization
In this paper, we propose a localization system that can combine data supplied by different sensors, even if they are not synchronized, or if they do not provide data at all times. Particularly, we have used the following sensors: a 2D laser range finder, a Wi-Fi positioning system (designed by us), and a magnetic compass. Real world experiments have shown that our algorithm is accurate, robust, and fast, and that it can take advantage of the strengths of each sensor, and minimise its weaknesses.
keywords: Sensor fusion, Robot localization, Wi-Fi positioning, Particle filter
Publication: Congress
1624015016864
June 18, 2021
/research/publications/robust-multi-sensor-system-for-mobile-robot-localization
In this paper, we propose a localization system that can combine data supplied by different sensors, even if they are not synchronized, or if they do not provide data at all times. Particularly, we have used the following sensors: a 2D laser range finder, a Wi-Fi positioning system (designed by us), and a magnetic compass. Real world experiments have shown that our algorithm is accurate, robust, and fast, and that it can take advantage of the strengths of each sensor, and minimise its weaknesses. - A. Canedo-Rodríguez, V. Álvarez-Santos, D. Santos-Saavedra, C. Gamallo, M. Fernández-Delgado, R. Iglesias, C.V. Regueiro - 10.1007/978-3-642-38622-0_10
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