Abstract
This paper considers the localization and navigation of a mobile robot. The control strategy is based on a nonlinear model predictive control technique that utilizes the Newton method. The robot localization is obtained using information from odometric and ultrasonic sensors through a Kalman filter. Simulation and experimental results illustrate the efficacy of the proposed method.
Reference
F. Lizarralde, E.V.L. Nunes, L. Hsu, and J.T. Wen
(2003).
Mobile Robot Navigation using Sensor Fusion
2003 IEEE Conference on Robotics and Automation, Taipei, Taiwan, Sept, 2003.
Conference Articles