Sensor fusion-based localization methods for mobile robots : a case study for wheeled robots

Odry Ákos and Csík Dominik and Stefanoni Massimo and Sarcevic Peter: Sensor fusion-based localization methods for mobile robots : a case study for wheeled robots. In: Analecta technica Szegedinensia, (16) 1. pp. 1-7. (2022)

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Abstract

Localization aims to provide the best estimate of the robot pose. It is a crucial algorithm in every robotics application, since its output directly determines the inputs of the robot to be controlled in its configuration space. In real world of engineering, the robot dynamics related measurements are subject to both uncertainties and disturbances. These error sources yield unreliable inferences of the robot state, which inherently result in wrong consensus about the appropriate control strategy to be applied. This outcome may drive the system out of stability and damage both the physical system and its environment. The localization algorithm captures the uncertainties with probabilistic approaches. Namely, the measurement processes are modelled along with their unreliability, moreover, the synergy of multiple information sources is formulated with the aim to calculate the most probable estimate of the robot pose. In essence, this algorithm is composed of two main parts, i.e., first the dynamics of the system is derived, and the corresponding uncertainties are initially predicted, next the additional sensor information is incorporated in the algorithm to refine the posterior estimate. This approach provides the state-of-the-art solution for the derivation of mobile robot poses in real applications.

Item Type: Article
Journal or Publication Title: Analecta technica Szegedinensia
Date: 2022
Volume: 16
Number: 1
ISSN: 2064-7964
Page Range: pp. 1-7
Language: English
Publisher: University of Szeged, Faculty of Engineering
Place of Publication: Szeged
Related URLs: https://acta.bibl.u-szeged.hu/77815/
DOI: 10.14232/analecta.2022.1.1-7
Uncontrolled Keywords: Mechatronika
Additional Information: Bibliogr.: 7. p. ; ill. ; összefoglalás angol nyelven
Subjects: 02. Engineering and technology
02. Engineering and technology > 02.02. Electrical engineering, electronic engineering, information engineering
Date Deposited: 2022. Dec. 14. 13:46
Last Modified: 2023. Jul. 13. 10:39
URI: http://acta.bibl.u-szeged.hu/id/eprint/77864

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