Sonar Sensor Models and Their Application to Mobile Robot LocalizationReport as inadecuate




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Department de Matemàtiques i Informàtica, Universitat de les Illes Balears, Ctra. de Valldemosa Km. 7.5, E-07122 Palma de Mallorca, Spain





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Abstract This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visual inspection. View Full-Text

Keywords: sonar; mobile robot localization; particle filter sonar; mobile robot localization; particle filter





Author: Antoni Burguera * , Yolanda González and Gabriel Oliver

Source: http://mdpi.com/



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