Global Localization of Mobile Robots using Local Position Estimation in a Geo Tagged Wireless Node Sensor Network

Autor(es): Santos, Elerson R. S.; Azpúrua, Hector; Rezeck, Paulo A. F.; Corrêa Maurício F. S.; Freitas, Gustavo M.; Macharet, Douglas G.
Resumo: (EN) Precise localization of mobile robots in uncertain environments is a fundamental and crucial issue in robotics. In this paper, we propose an outdoor robot localization strategy using an extended Kalman filter (EKF). The method relies on the received signal strength (RSS) produced by wireless nodes, wheel odometry, and GPS to estimate a precise global position of the robot. The proposed method was evaluated using simulated experiments with different scenarios and sensors configurations. The results have shown the feasibility of the methodology.
Periódico: Latin American Robotic Symposium 2018
Ano: 2018
Páginas: p. 1-6
DOI: https://doi.org/10.1109/LARS/SBR/WRE.2018.00017
Ano de publicação: 2018
Disponível em: https://ieeexplore.ieee.org/abstract/document/8588524
Editora com ISSN: IEEE