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.
Publication Type:
Conference Articles