In this chapter the localisation problem for mobile robots is addressed. The localisation is accomplished using data coming from different sensors, which must be properly combined. For this reason, as a preliminary material, the first two sections of the chapter will be devoted to sensor integration and fusion. Different approaches will be considered according to the specific scenario where the localisation must be executed. The localisation section will present some basic methods and problems and will also report some experimental results. The chapter ends with a conclusions section which summarises the subject and also provides some directions for future research.
Sensor Fusion for Robot Localization
VALIGI, Paolo
2001
Abstract
In this chapter the localisation problem for mobile robots is addressed. The localisation is accomplished using data coming from different sensors, which must be properly combined. For this reason, as a preliminary material, the first two sections of the chapter will be devoted to sensor integration and fusion. Different approaches will be considered according to the specific scenario where the localisation must be executed. The localisation section will present some basic methods and problems and will also report some experimental results. The chapter ends with a conclusions section which summarises the subject and also provides some directions for future research.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
