title: Odometry and laser scanner fusion based on a discrete extended Kalman Filter for robotic platooning guidance.
abstract: 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; 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 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.
authors.affiliation: Electronics Department, Higher Polytechnic School, University of Alcala, Alcalá de Henares 28805 Madrid, Spain.
authors.forename: Felipe
authors.initials: F
authors.lastname: Espinosa
authors.forename: Carlos
authors.initials: C
authors.lastname: Santos
authors.forename: Marta
authors.initials: M
authors.lastname: Marrón-Romera
authors.forename: Daniel
authors.initials: D
authors.lastname: Pizarro
authors.forename: Fernando
authors.initials: F
authors.lastname: Valdés
authors.forename: Javier
authors.initials: J
authors.lastname: Dongil
mesh_terms: D007834:Lasers; D012371:Robotics