Resumo

FONT, Josep M  e  BATLLE, Joaquim A. Mobile Robot Positioning by means of an Angular Kalman Filter and Triangulation. Inf. tecnol. [online]. 2006, vol.17, n.5, pp.9-14. ISSN 0718-0764.  http://dx.doi.org/10.4067/S0718-07642006000500003.

This paper presents an alternative method for solving the dynamic positioning problem of a robot. An extended Kalman filter is used for the instantaneous estimation of the angles , relative to the robot frame , of the straight lines from a rotating laser scanner to a set of reflectors. A typical positioning method is the one that uses the angular measurements of the straight lines from a robot point to a set of known workspace landmarks, obtained by means of a rotating laser scanner. From these measurements, the triangulation algorithms determine the mobile robot position and orientation. The proposed method, by predicting the angles between the real measurements of the laser sensor, guarantees the consistent use of triangulation at all moments under robot dynamic condition. The experimental results show the increase in precision provided by the proposed method.

Palavras-chave : mobile robotics; laser positioning; Kalman filter; triangulation.