Precise Localization of Mobile Robots via Odometry and Wireless Sensor Network. (19th April 2013)

• Record Type: Journal Article
• Authors: Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 4(2013)
• Publication Date: 2013-04-19
• Subjects: Dead Reckoning -- Kalman Filter -- Mobile Robot Localization -- Wireless Sensor Network; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56217
• Languages: English
• ISSNs: 1729-8806

Abstract

Precise localization of mobile robots in uncertain environments is a fundamental and crucial issue in robotics. In this paper, to deal with the unbounded accumulated errors of dead reckoning (DR)-based localization, wireless sensor network (WSN)-based localization is applied to calibrate the uncertainty of odometry using a Kalman filter (KF). In addition, to further aid in obtaining precise positions and reduce uncertainty, a novel backward dead reckoning (BDR) localization approach is proposed. The experimental results demonstrate the success and reliability of the proposed method.