Robust Mobile Robot Localization based on Security Laser Scanner

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Sobreira, H (Author) Other; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP; Lima, J (Author) Other

Conference proceedings International

Title: 2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Pages: 162-167

9th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Vila Real, PORTUGAL, APR 08-10, 2015

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 6 Citations

Other information

Authenticus ID: P-00G-CQK

DOI: 10.1109/icarsc.2015.28

Abstract (EN): This paper addresses the development of a new localization system based on a security laser presented on most AGVs for safety reasons. An enhanced artificial beacons detection algorithm is applied with a combination of a Kalman filter and an outliers rejection method in order to increase the robustness and precision of the system. This new robust approach allows to implement such system in current AGVs. Real results in industrial environment validate the proposed methodology.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6