Fusion of odometry with magnetic sensors using Kalman filters and augmented system models for mobile robot navigation

IEEE International Symposium on Industrial Electronics

Volumn IV, Issue , 2005, Pages 1551-1556

  Surrécio, António ^a   Nunes, Urbano ^a   Araújo, Rui ^a  

^a UNIVERSITY OF COIMBRA   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; KALMAN FILTERING; MATHEMATICAL MODELS; MEASUREMENT THEORY; NAVIGATION; SENSORS;

AUGMENTED SYSTEM MODELS; MAGNETIC SENSORS; ROBOT NAVIGATION;

MOBILE ROBOTS;

EID: 33748348153     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISIE.2005.1529163     Document Type: Conference Paper

References (8)

1. L. Conde Bento and Urbano Nunes, "Autonomous navigation control with magnetic markers guidance of a cybernetic car using fuzzy logic," Journal of Machine Intelligence & Robotic Control, Cyber Scientific, Japan, in press.
2. Han-Shue Tan, Bénédicte Bougler, 'Vehicle Lateral Warning, Guidance and Control Based on Magnetic Markers: PATH Report of ASHRA Smart Cruise 21 Proving Tests," California PATH Working Paper, UCB-ITS-PWP-2001-6. Institute of Transportation Studies, University of California, Berkeley, 2001.
3. Márcio Barata, Urbano Nunes, L. Conde Bento, and Abel Mendes, "Data Fusion of wheel encoders and magnetic sensors for autonomous vehicles navigation," 6th Portuguese Conf. on Automatic Control (Controlo 2004), Faro, Portugal, 2004.
4. Abel Mendes and Urbano Nunes, "Situation-based multi-target detection and tracking with laserscanner in outdoor semistructured environment," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2004), 88-93. Sendai, Japan, 2004.
5. W. Zhang, B. Parson, and T. West, "Intelligent roadway reference system for vehicle lateral control," Proc. of the 1990 American Control Conf., San Diego, CA, USA, 281-286, 1990.
6. Y. Kanayama, Y. Kimura, and F. Miyazaki, "A stable tracking control method for a non-holonomic mobile robot," IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, 1236-1241, 1991.
7. Yunchun Yan and Jay A. Farrell, "Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control," IEEE Trans. on Robotics and Automation, vol.19, no.2, pp. 269-282, 2003.
8. Xu Zezhong, and Liu Jilin. "Mobile robot localization using linear system model, " 1st Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO 2004), pp. 243-248, Setúbal, Portugal, 2004.