Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

Blog Article

This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments.This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units.The laser Interior Protection Tape source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories.

A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints.Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown.The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors Upholstered Full Bed is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.