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EnglishMany techniques for robot localization rely on the assumption that both process and measurement noises are uncorrelated, white, and normally distributed. However, if this assumption does not hold, these techniques are no longer optimal and, in addition, the maximum estimation errors can be hardly kept under control. In this paper, this problem is addressed by means of a tailored extended H ∞ filter (EHF) fusing odometry and gyroscope data with position and heading measurements based on quick response (QR) code landmark recognition. In particular, it is shown that, by properly tuning EHF parameters and by using an adaptive mechanism to avoid finite escape time phenomena, it is possible to achieve a higher localization accuracy than using other dynamic estimators, even if QR codes are detected sporadically. Also, the proposed approach ensures a good tradeoff in terms of computational burden, convergence time, and deployment complexity.
Indoor localization of mobile robots through QR code detection and dead reckoning data fusion / Nazemzadeh, Payam; Fontanelli, Daniele; Macii, David; Palopoli, Luigi. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - STAMPA. - 22:6(2017), pp. 2588-2599.
| Titolo: | Indoor localization of mobile robots through QR code detection and dead reckoning data fusion | |
| Autori: | Nazemzadeh, Payam; Fontanelli, Daniele; Macii, David; Palopoli, Luigi | |
| Autori Unitn: | ||
| Titolo del periodico: | IEEE/ASME TRANSACTIONS ON MECHATRONICS | |
| Anno di pubblicazione: | 2017 | |
| Numero e parte del fascicolo: | 6 | |
| Codice identificativo Scopus: | 2-s2.0-85031808276 | |
| Codice identificativo WOS: | WOS:000418372600020 | |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/TMECH.2017.2762598 | |
| Handle: | http://hdl.handle.net/11572/196845 | |
| Citazione: | Indoor localization of mobile robots through QR code detection and dead reckoning data fusion / Nazemzadeh, Payam; Fontanelli, Daniele; Macii, David; Palopoli, Luigi. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - STAMPA. - 22:6(2017), pp. 2588-2599. | |
| Appare nelle tipologie: | 03.1 Articolo su rivista (Journal article) |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| ASME_mechatronics.pdf | Versione editoriale (Publisher’s layout) | Tutti i diritti riservati (All rights reserved) | Administrator | |
| QR_localization_post_print.pdf | Open access version | Post-print referato (Refereed author’s manuscript) | Tutti i diritti riservati (All rights reserved) | Open Access Visualizza/Apri |
http://hdl.handle.net/11572/196845
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