Covarianza dinámica con sensor Doppler para la estimación de errores no sistemáticos

  1. Toledo Carrillo, Jonay Tomas 1
  2. Rodriguez, Alexis 1
  3. Fariña, Bibiana 1
  4. Abreu, David 1
  5. Acosta, Leopoldo 1
  1. 1 Universidad de La Laguna
    info

    Universidad de La Laguna

    San Cristobal de La Laguna, España

    ROR https://ror.org/01r9z8p25

Journal:
Jornadas de Automática
  1. Cruz Martín, Ana María (coord.)
  2. Arévalo Espejo, V. (coord.)
  3. Fernández Lozano, Juan Jesús (coord.)

ISSN: 3045-4093

Year of publication: 2024

Issue: 45

Type: Article

DOI: 10.17979/JA-CEA.2024.45.10946 DIALNET GOOGLE SCHOLAR lock_openOpen access editor

Abstract

One of the keys to safe navigation for a mobile robot is the localization system. This has to obtain a pose that is as preciseas possible. To achieve this, a combination of different sensors is used to improve the overall location result, characterizing each measurement with its precision. One of the most important sensors for this is odometry, however it is very difficult to characterize the accuracy of the odometric system. This article presents a sensor based on the ultrasonic Doppler effect to carryout a validation measure of the result of the odometric sensor and in this way adjust its covariance dynamically. The sensor is validated in a experiment in section 5 obtaining a more accurate final localization.

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Data source: Dialnet