Abstract
This paper describes the use of derivative free
filters for mobile robot localization and navigation in an
orchard. The localization algorithm fuses odometry and gyro
measurements with line features representing the surrounding
fruit trees of the orchard. The line features are created on
basis of 2D laser scanner data by a least square algorithm.
The three derivative free filters are compared to an EKF based
localization method on a typical run covering four rows in
the orchard. The Matlab
R toolbox Kalmtool is used for easy
switching between different filter implementations without the
need for changing the base structure of the system.
Original language | English |
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Title of host publication | Proceedings of the American Control Conference 2011 |
Publisher | AACC |
Publication date | 2011 |
Pages | 4679-4684 |
ISBN (Print) | 978-1-4577-0080-4 |
Publication status | Published - 2011 |
Event | 2011 American Control Conference - San Francisco, CA, United States Duration: 29 Jun 2011 → 1 Jul 2011 http://a2c2.org/conferences/acc2011/index.php?r=1&page=Greetings&w=1280&b=2 |
Conference
Conference | 2011 American Control Conference |
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Country/Territory | United States |
City | San Francisco, CA |
Period | 29/06/2011 → 01/07/2011 |
Internet address |
Series | American Control Conference |
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ISSN | 0743-1619 |
Keywords
- Autonomous mobile robots
- Sensor fusion
- State estimation
- Robot navigation
- Localization