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A Component-Based Approach to Ultrasonic Self Localization in Sensor Networks

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Author

Summary, in English

This report describes the development of an ultrasound based self localization system for mobile robots. The robot navigates using a combination of internal wheel encoders and absolute distance information from a sensor network. The sensor fusion problem is formulated as a non-linear state estimation problem which is approximated using an extended Kalman filter.

Publishing year

2008

Language

English

Publication/Series

Technical Reports TFRT-7619

Document type

Report

Publisher

Department of Automatic Control, Lund Institute of Technology, Lund University

Topic

  • Control Engineering

Status

Published

ISBN/ISSN/Other

  • ISSN: 0280-5316