학술논문
Mobile robot navigation using sensor fusion
Document Type
Conference
Author
Source
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Robotics and automation Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on. 1:458-463 vol.1 2003
Subject
Language
ISSN
1050-4729
Abstract
This paper considers the localization and navigation of a mobile robot. The control strategy is based on a nonlinear model predictive control technique that utilizes the Newton method. The robot localization is obtained using information from odometric and ultrasonic sensors through a Kalman filter. Simulation and experimental results illustrate the efficacy of the proposed method.