Utilize este identificador para referenciar este registo: http://hdl.handle.net/10198/15359
Título: Robust mobile robot localization based on security laser scanner
Autor: Sobreira, Héber
Moreira, A. Paulo
Costa, Paulo Gomes
Lima, José
Palavras-chave: AGV
Artificial beacons
Kalman filter
Localization
Mobile robotics
Outliers rejection
Security laser
Data: 2015
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
Resumo: 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.
Peer review: yes
URI: http://hdl.handle.net/10198/15359
DOI: 10.1109/ICARSC.2015.28
Aparece nas colecções:ESTiG - Publicações em Proceedings Indexadas à WoS/Scopus

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