Range-Only Robot Localization and SLAM With Radio

Topics:
Electrical and Electronic
Tags:
Advertising & Promotion,
Beacon,
Carnegie-Mellon University,
Marketing,
Radio,
Robot
Source:
Carnegie Mellon University

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Overview: This white paper presents three localization algorithms using radio beacons that provide the ability to measure range only. Obtaining range from radio has the advantage that line of sight between the beacons and the transponder is not required, and the data association problem can be completely avoided. The paper also reveals an extended Kalman filter, a particle filter, and a nonlinear sliding batch method that are used to fuse range data with dead reckoning data collected from a real system, and results are demonstrated.

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Format: PDF | Size: 512KB | Date: Jul 2004 | Pages: 60

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