In:
Advanced Materials Research, Trans Tech Publications, Ltd., Vol. 488-489 ( 2012-3), p. 1818-1822
Abstract:
This paper proposes localization using sensor fusion with a laser navigation and an inertial navigation system for indoor mobile. The laser navigation is a device that measures angle and distance between the robot and the reflectors. Although it is the high-precision device for indoor global positioning, there is a problem that the accuracy of laser navigation significantly drops while moving at high speed and rapid turning. To solve this problem, the laser navigation was fused to inertial navigation system through Kalman filter. For experiment, we use omnidirectional robot with Mecanum Wheels and analyze the positioning accuracy according to driving direction of the robot.
Type of Medium:
Online Resource
ISSN:
1662-8985
DOI:
10.4028/www.scientific.net/AMR.488-489
DOI:
10.4028/www.scientific.net/AMR.488-489.1818
Language:
Unknown
Publisher:
Trans Tech Publications, Ltd.
Publication Date:
2012
detail.hit.zdb_id:
2265002-7
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