Robust mobile robot localization based on security laser scanner

Sobreira, Héber; Moreira, António Paulo G. M.; Costa, Paulo Gomes da; Lima, José

http://hdl.handle.net/10198/15359

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Autores

Sobreira, Héber

Moreira, António Paulo G. M.

Costa, Paulo Gomes da

Lima, José

Resumo(s)

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.

Palavras-chave

AGV Artificial beacons Kalman filter Localization Mobile robotics Outliers rejection Security laser

URI

http://hdl.handle.net/10198/15359

Citação

Sobreira, Héber; Moreira, A. Paulo; Costa, Paulo Gomes; Lima, José (2015). Robust mobile robot localization based on security laser scanner. In Proceedings - 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015. p. 162-167. ISBN 978-1467369909

DOI

10.1109/ICARSC.2015.28

Coleções

ESTiG - Publicações em Proceedings Indexadas à WoS/Scopus

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