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Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots

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Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots

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dc.contributor.author Marín, Leonardo es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Soriano Vigueras, Ángel es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Albertos Pérez, Pedro es_ES
dc.date.accessioned 2014-10-30T15:40:17Z
dc.date.available 2014-10-30T15:40:17Z
dc.date.issued 2013-10
dc.identifier.issn 1424-8220
dc.identifier.uri http://hdl.handle.net/10251/43735
dc.description.abstract This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. es_ES
dc.description.sponsorship This work has been partially funded by FEDER-CICYT projects with references DPI2011-28507-C02-01 and DPI2010-20814-C02-02, financed by Ministerio de Ciencia e Innovacion (Spain). Also, the financial support from the University of Costa Rica is greatly appreciated. en_EN
dc.language Inglés es_ES
dc.publisher MDPI es_ES
dc.relation.ispartof Sensors es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Mobile robots es_ES
dc.subject Pose estimation es_ES
dc.subject Sensor fusion es_ES
dc.subject Kalman filtering es_ES
dc.subject Inertial sensors es_ES
dc.subject Robot sensing systems es_ES
dc.subject Dynamic model es_ES
dc.subject Embedded systems es_ES
dc.subject Global positioning systems es_ES
dc.subject Event based systems es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.3390/s131014133
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-02/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICA/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Marín, L.; Vallés Miquel, M.; Soriano Vigueras, Á.; Valera Fernández, Á.; Albertos Pérez, P. (2013). Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots. Sensors. 13(10):14133-14160. doi:10.3390/s131014133 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.3390/s131014133 es_ES
dc.description.upvformatpinicio 14133 es_ES
dc.description.upvformatpfin 14160 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 13 es_ES
dc.description.issue 10 es_ES
dc.relation.senia 251648
dc.identifier.pmid 24152933 en_EN
dc.identifier.pmcid PMC3859113 en_EN
dc.contributor.funder Universidad de Costa Rica es_ES
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