Enhanced Mobile Robot Localization with Lidar and IMU Sensor

Darren Ren Yee Phang, Wai Kong Lee, Nobuto Matsuhira, Papoutsidakis Michail

研究成果: Conference contribution

抄録

Lidar technology is widely used in performing robot localization. However, when only Lidar is being used, the accuracy of localization is not high. In this paper, we present a technique to integrate IMU sensor into a mobile robot equipped with Lidar module. With the heading and direction information (odometer) generated from IMU, the localization error introduced by Lidar can be corrected from time to time. Experimental results show that the robot is able to perform better localization with the introduction of IMU sensor.

本文言語English
ホスト出版物のタイトルIMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai
出版社Institute of Electrical and Electronics Engineers Inc.
ページ71-72
ページ数2
ISBN(電子版)9781728131627
DOI
出版ステータスPublished - 2019 11
イベント17th International Meeting for Future of Electron Devices, Kansai, IMFEDK 2019 - Avanti, Kyoto, Japan
継続期間: 2019 11 142019 11 15

出版物シリーズ

名前IMFEDK 2019 - International Meeting for Future of Electron Devices, Kansai

Conference

Conference17th International Meeting for Future of Electron Devices, Kansai, IMFEDK 2019
CountryJapan
CityAvanti, Kyoto
Period19/11/1419/11/15

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment
  • Electrical and Electronic Engineering
  • Safety, Risk, Reliability and Quality
  • Electronic, Optical and Magnetic Materials
  • Instrumentation

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