OTHER
"OXNAV": reliable autonomous navigation
Andrew Stevens, Michael Stevens, Hugh Durrant‐Whyte
- Year
- 2002
- Citations
- 25
Abstract
A novel Kalman filter based sonar navigation system is presented that utilises directed sensing techniques to achieve continuous indoor localisation of a mobile robot. Data from extensive trials is summarised demonstrating continuous, reliable, localisation using this system in a wide variety of active industrial sites. Full details of experimental method and performance assessment are given.
Keywords
SonarComputer scienceKalman filterMobile robotNavigation systemVariety (cybernetics)Extended Kalman filterSea trialReal-time computingRobot
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