Development and experimental validation of an adaptive estimation algorithm for the on-line localization of mobile robots by multisensor fusion

摘要

A basic requirement for an autonomous mobile robot is its capability to elaborate the sensor measures to localize itself with respect to a coordinate system To this purpose, the data provided by odometric and sonar sensors are here fused together by means of an extended Kalman filter. The performance of the filter is improved by an on line adjustment of the input and measurement noise covariances obtained by a suitably defined estimation algorithm.