Mobile robot navigation using sensor fusion

Abstract— This paper considers the localizaton 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. 2003 IEEE Int. Conf. on Robotics and Automation (Taipei)

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Fernando C. Lizarralde, Eduardo V. L. Nunes, Liu Hsu, John T. Wen
• Keywords: ICRA 2003, Mobile Robot, Predictive Control Technique, Robot Localization, Robotics