Authors: Jose V. Abellan-Nebot
Addresses: Department of Industrial Systems Engineering and Design, Universitat Jaume I, Av. Sos Baynat s/n, 12071 Castellon, Spain
Abstract: This work studies the improvement of mobile robot localisation by fusing information from infrared (IR) sensors used for floor tiles joint detection with the robot localisation computed through an odometric model based on incremental encoders. The fusion strategy applied is a Kalman filter and the study analyses different configurations of IR sensors to acquire relative information of robot localisation. The performance of the different IR configurations is evaluated for two trajectories and results show an inexpensive methodology to minimise error localisation in environments formed by floor tiles, reducing the mean error localisation of the mobile robot up to 70% using this sensor fusion approach.
Keywords: mobile robot; Kalman filter; odometry; infrared sensors; landmarks.
International Journal of Advanced Mechatronic Systems, 2017 Vol.7 No.4, pp.256 - 264
Received: 04 May 2017
Accepted: 03 Nov 2017
Published online: 29 Jan 2018 *