sonar sensor models and their application to mobile robot localization声纳传感器的移动机器人定位模型和他们的应用程序.pdfVIP

Sensors 2009, 9, 10217-10243; doi:10.3390/ OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Sonar Sensor Models and Their Application to Mobile Robot Localization ´ Antoni Burguera , Yolanda Gonzalez and Gabriel Oliver ` ` Department de Matematiques i Informatica, Universitat de les Illes Balears, Ctra. de Valldemosa Km. 7.5, E-07122 Palma de Mallorca, Spain; E-Mails: y.gonzalez@uib.es (Y.G.); goliver@uib.es (G.O.) Author to whom correspondence should be addressed; E-Mail: antoni.burguera@uib.es; Tel.: +34 971 172911; Fax: +34 971 173003. Received: 2 November 2009; in revised form: 18 November 2009 / Accepted: 14 December 2009 / Published: 17 December 2009 Abstract: This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visua