{"title":"基于多传感器模型的移动机器人定位帮助行动不便者","authors":"Wassila Meddeber, Arab Ali-Cherif Youcef Touati","doi":"10.17781/P002286","DOIUrl":null,"url":null,"abstract":"This paper deals multi-sensor data fusion problem for mobile robot localization. In this context, we have used data fusion sensors: encoders and ultrasonic sensor. To improve the robustness of localization and to reduce the estimation error we have proposed a Kalman Particle Kernel Filter (KPKF) approach, which is based on a hybrid Bayesian filter, combining both extended Kalman and particle filters. The KPKF filter using a Gaussian mixture in which each component has a small covariance matrix. The Kalman correction updates the weights in order to bring particles back into the most probable space area. This method can be applied for non-linear and multimodal environment and can improve localization performances and reduced estimation error. The proposed approach is implemented on a LIASD-Wheelchair experimental platform. Keywords—Localization; multi-sensor; data fusion; mobile robotics; Kalman filter; particle filter; smart wheelchair.","PeriodicalId":211757,"journal":{"name":"International journal of new computer architectures and their applications","volume":"90 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Mobile Robot Localization Based on Multi-Sensor Model for Assistance to Displacement of People with Reduce Mobility\",\"authors\":\"Wassila Meddeber, Arab Ali-Cherif Youcef Touati\",\"doi\":\"10.17781/P002286\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper deals multi-sensor data fusion problem for mobile robot localization. In this context, we have used data fusion sensors: encoders and ultrasonic sensor. To improve the robustness of localization and to reduce the estimation error we have proposed a Kalman Particle Kernel Filter (KPKF) approach, which is based on a hybrid Bayesian filter, combining both extended Kalman and particle filters. The KPKF filter using a Gaussian mixture in which each component has a small covariance matrix. The Kalman correction updates the weights in order to bring particles back into the most probable space area. This method can be applied for non-linear and multimodal environment and can improve localization performances and reduced estimation error. The proposed approach is implemented on a LIASD-Wheelchair experimental platform. Keywords—Localization; multi-sensor; data fusion; mobile robotics; Kalman filter; particle filter; smart wheelchair.\",\"PeriodicalId\":211757,\"journal\":{\"name\":\"International journal of new computer architectures and their applications\",\"volume\":\"90 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International journal of new computer architectures and their applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.17781/P002286\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International journal of new computer architectures and their applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.17781/P002286","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Mobile Robot Localization Based on Multi-Sensor Model for Assistance to Displacement of People with Reduce Mobility
This paper deals multi-sensor data fusion problem for mobile robot localization. In this context, we have used data fusion sensors: encoders and ultrasonic sensor. To improve the robustness of localization and to reduce the estimation error we have proposed a Kalman Particle Kernel Filter (KPKF) approach, which is based on a hybrid Bayesian filter, combining both extended Kalman and particle filters. The KPKF filter using a Gaussian mixture in which each component has a small covariance matrix. The Kalman correction updates the weights in order to bring particles back into the most probable space area. This method can be applied for non-linear and multimodal environment and can improve localization performances and reduced estimation error. The proposed approach is implemented on a LIASD-Wheelchair experimental platform. Keywords—Localization; multi-sensor; data fusion; mobile robotics; Kalman filter; particle filter; smart wheelchair.