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

Forskningsoutput: Bok/rapportRapport

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.

Detaljer

Författare
Enheter & grupper
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Reglerteknik
Originalspråkengelska
FörlagDepartment of Automatic Control, Lund Institute of Technology, Lund University
StatusPublished - 2008
PublikationskategoriForskning

Publikationsserier

NamnTechnical Reports TFRT-7619
ISSN (tryckt)0280-5316

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