A Component-Based Approach to Ultrasonic Self Localization in Sensor Networks

Research output: Book/ReportReport

Abstract

This report describes the development of an ultrasound based self localization system for mobile robots. The robot navigates using a combination of internal wheel encoders and absolute distance information from a sensor network. The sensor fusion problem is formulated as a non-linear state estimation problem which is approximated using an extended Kalman filter.

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Subject classification (UKÄ) – MANDATORY

  • Control Engineering
Original languageEnglish
PublisherDepartment of Automatic Control, Lund Institute of Technology, Lund University
Publication statusPublished - 2008
Publication categoryResearch

Publication series

NameTechnical Reports TFRT-7619
ISSN (Print)0280-5316

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