Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance 英文参考文献.docVIP

Sensors 2011, 11, 8339-8357; doi:10.3390/s110908339 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance Felipe Espinosa *, Carlos Santos, Marta Marrón-Romera, Daniel Pizarro, Fernando Valdés and Javier Dongil Electronics Department, Higher Polytechnic School, University of Alcala, Alcalá de Henares 28805 Madrid, Spain; E-Mails: carlos.santos@depeca.uah.es (C.S.); marta@depeca.uah.es (M.M.-R); pizarro@depeca.uah.es (D.P.); fernando.valdes@depeca.uah.es (F.V.); javier.dongil@uah.es (J.D.) * Author to whom correspondence should be addressed: E-Mail: espinosa@depeca.uah.es; Tel.: +34-918-856-545; Fax: +34-918-856-591. Received: 18 July 2011; in revised form: 20 August 2011 / Accepted: 21 August 2011 / Published: 29 August 2011 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. Keywords: Kalman filter; sensor fusion; intelligent robots; data proces