Fusing range measurements from ultrasonic beacons and a laser range finder for localization of a mobile robot

• Published in: Sensors (Basel, Switzerland) Vol. 15; no. 5; pp. 11050 - 11075
• Main Authors: Ko, Nak Yong, Kuc, Tae-Yong
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 11.05.2015; MDPI
• Subjects: Beacons; data association; Fuses; fusing measurements; laser range finder; Laser range finders; Lasers; Localization; mobile robot; Position (location); Robots; Sensors; ultrasonic beacons; Ultrasonic testing; unscented Kalman filter; Work environment; laser range finder; mobile robot; data association; ultrasonic beacons; fusing measurements; unscented Kalman filter

This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robot to the walls surrounding the robot measured by a...