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Authors: Immanuel Ashokaraj ; Antonios Tsourdos ; Peter Silson and Brian White

Affiliation: Cranfield University, United Kingdom

Keyword(s): Interval analysis, Robotics, Navigation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper describes a new approach for mobile robot navigation using an interval analysis based adaptive mechanism for an Unscented Kalman filter. The robot is equipped with inertial sensors, encoders and ultrasonic sensors. The map used for this study is two-dimensional and it is assumed to be known a-priori. Multiple sensor fusion for robot localisation and navigation has attracted a lot of interest in recent years. An Unscented Kalman Filter (UKF) is used here to estimate the robots position using the inertial sensors and encoders. Since the UKF estimates are affected by bias, drift etc, we propose an adaptive mechanism using interval analysis with ultrasonic sensors to correct these defects in estimates. Interval analysis has been already successfully used in the past for robot localisation using time of flight sensors. But this IA algorithm has been extended to incorporate the sensor range limitation as in many real world sensors such as ultrasonic sensors. One of the problems of the use of interval analysis sensor based navigation and localisation is that it can be applicable only in the presence of land marks. This problem is overcome here using additional sensors such as encoders and inertial sensors, which gives an estimate of the robot position using an Unscented Kalman filter in the absence of land marks. In the presence of land marks the complementary robot position information from the Interval analysis algorithm using ultrasonic sensors is used to estimate and bound the errors in the UKF robot position estimate. (More)

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Paper citation in several formats:
Ashokaraj, I.; Tsourdos, A.; Silson, P. and White, B. (2004). ROBUST SENSOR BASED NAVIGATION FOR AUTONOMOUS MOBILE ROBOT. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 64-70. DOI: 10.5220/0001140500640070

@conference{icinco04,
author={Immanuel Ashokaraj. and Antonios Tsourdos. and Peter Silson. and Brian White.},
title={ROBUST SENSOR BASED NAVIGATION FOR AUTONOMOUS MOBILE ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={64-70},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001140500640070},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - ROBUST SENSOR BASED NAVIGATION FOR AUTONOMOUS MOBILE ROBOT
SN - 972-8865-12-0
IS - 2184-2809
AU - Ashokaraj, I.
AU - Tsourdos, A.
AU - Silson, P.
AU - White, B.
PY - 2004
SP - 64
EP - 70
DO - 10.5220/0001140500640070
PB - SciTePress

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