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

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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 source allows one to compensate the cumulative error inherent to dead-reckoning; 2000 bmw 528i front bumper 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 here 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 is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.