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	A Localization Algorithm for Low-Cost Cleaning Robots Based on Kalman Filter
	Zhangjun Song; Huifen Liu; Jianwei Zhang; Liwei Wang; Ying Hu
	2010
会议名称	2010 8th World Congress on Intelligent Control and Automation, WCICA
会议地点	Jinan
英文摘要	A novel localization algorithm with low-cost sensors for cleaning robots is presented in this paper, which includes fusing the data of encoders and an electronic compass to estimate the posture state of the robot by using Kalman filter. It judges the confidence of the data of the electronic compass with magnetic field intensity; judges the confidence of data of odometer by the information of slippage and collision. A coverage strategy and map construction methods with the localization algorithm are also introduced. Experimental results show that the proposed algorithm can achieve adequate localization precise enough for complete coverage and the cleaning robots have a superior coverage ratio with the coverage strategy
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/2834]
专题	深圳先进技术研究院_集成所
作者单位	2010
推荐引用方式 GB/T 7714	Zhangjun Song,Huifen Liu,Jianwei Zhang,et al. A Localization Algorithm for Low-Cost Cleaning Robots Based on Kalman Filter[C]. 见:2010 8th World Congress on Intelligent Control and Automation, WCICA. Jinan.

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