A rule based data fusion scheme for wheeled mobile robot localization

verfasst von

Holger Blume, Frank Abelbeck, Bodo Heimann

Abstract

This paper deals with a data fusion algorithm for wheeled mobile robot localization using data from multiple localization systems. One is dead reckoning, which is subject to different systematic and random errors, summing up over time. Still, it offers high resolution in the close-up range and by data fusion with a landmark-based low resolution localization system qualifies for high accuracy path control. Here a data fusion algorithm is developed, which chooses the more reliable data source providing smooth transitions. Furthermore the system makes use of time spans when the availability of both systems is high to improve the quality of the position estimation. The parameters of the error correction algorithm are continuously estimated by a recursive least squares algorithm. The methodology is applied to a 4-wheel omnidirectional wmr. A significant improvement of precision in position estimation against simple dead reckoning can be shown.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Mechatronik-Zentrum Hannover

Typ

Konferenzaufsatz in Fachzeitschrift

Journal

IFAC Proceedings Volumes (IFAC-PapersOnline)

Band

39

Seiten

867-872

Anzahl der Seiten

6

ISSN

1474-6670

Publikationsdatum

2006

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.3182/20060912-3-DE-2911.00149 (Zugang: Geschlossen)