Simulation of a Mobile Robot Localization based on Hierarchical Sensor Fusion

Carlos Eduardo Magrin, Eduardo Todt


This article presents a hierarchical sensor fusion (HSF) method applied
in virtual robot experimentation platform (V-REP) for indoor mobile robot
localization. Robot operating system (ROS) framework is used for interface with
V-REP. The proposal is to simulate a robot equipped with low-cost sensors such
as eight sonars and digital compass, also using the received signal strength
(RSS) from wireless networks available in the environment. The HSF method
based on fingerprint kNN can determine the robot localization in different grid
sizes. This work was useful for modeled a robot in a virtual scene and segmentation
the project in nodes for supporting a sensor fusion method and solve the
mobile robot localization problems in indoor environments.

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