Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

Abstract

This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.

A Mobile Robots Experimental Environment with Event-Based Wireless Communication

“…This may help readers to build similar systems. It can also be scaled up or down to equip bigger or smaller robots, respectively [19,20]. …”

Control de un convoy robótico mediante planificación de rutas y estrategias de orientación

“…Así mismo, dentro del estudio de estos sistemas se han utilizado métodos de control para realizar un análisis en agentes que interactúan con otros para lograr una tarea conjunta. De esta forma, el control cooperativo es uno de los temas que ha recibido mayor atención debido a sus múltiples aplicaciones como, por ejemplo, misiones de rescate, movimiento de objetos y múltiples formaciones (Espinosa et al, 2011). La cooperación en los sistemas de exploración y transporte robótico ha avanzado mediante la parametrización de datos y estrategias en las que se presentan sistemas de concepto multiagente, en los cuales su funcionamiento está constituido por un equipo temporal de robots para ejecutar una tarea asignada (Rodriguez y Reggia, 2005).…”

Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

“…In the field of mobile robots, the concept of sensor data fusion has already been widely used on wheeled vehicles. Several practical applications have been addressed, including fusion between an inertial measurement unit (IMU) and vision [4], Kinect™/laser fusion [5], odometry/laser fusion via extended Kalman filter (EKF) for robotic guidance [6], laser/GPS fusion via Kalman filter for tracking in outdoor environments, laser/vision fusion for human detection [7], and Kinect™/thermal fusion for robust people detection. Moreover, multi-sensor information was employed in the European URUS (Ubiquitous Networking Robotics in Urban Sites) project, which aims to develop a network of robots to collaborate and communicate with human beings and the environment in urban areas [8].…”