Localisation system for an autonomous mobile platform

• Type: Article in International Conference Proceedings Book
• Date: 1997

Authors

Ramos, P (Author) Other; Pereira, FL (Author) FEUP

Conference proceedings International

Title: Proceedings of the IEEE International Symposium on Industrial Electronics

Pages: 807-812

ISIE'97 - International Symposium on Industrial Electronics

Guimarães, Portugal, 07 - JULHO - 1997

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-007-7Q4

DOI: 10.1109/isie.1997.648643

Abstract (EN): In this article, we present the design and development of a localisation system for a mobile autonomous platform. The purpose of this system is to endow this vehicle with the capability of maintaining a position estimate in real time without artificial aids in a structured environment. Each position estimate is generated from the previous one with information obtained from the on board sensors as well as from the world model. Process and observation models are built in such a way that take into account the physical restrictions of the vehicle and its ultra-sonic sonars. All the stages of the Extended Kalman Filtering (EKF) process applied to the vehicle of interest are described. To increase the performance of the sonar data real time acquisition, a method based on entropy choosing the sonar observation in order to minimise the uncertainty of the position estimate is used. An adaptive process of matching the sonar observation decreasing the possibility of loss of the vehicle is also chosen. Satisfactory results showing the good performance of this localisation system are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6