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A method of mobile robot localisation by fusion of odometric and magnetometric data

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Abstract

This paper presents the dead reckoning localisation technique of the robot ROMANE (“Robot Mobile Autonome de Navigation en Extérieur”) which is conceived to move outdoors on level roads without traffic. Vehicle localisation with incremental shaft encoders on the wheels is improved by integration of a magnetic compass into the robot system. Fusion of odometric and magnetometric data by Kalman filtering increases the accuracy of the estimated robot heading. Consequently the uncertainty of the vehicle position is reduced. To evaluate our localisation method we present some experimental results of trajectory estimations.

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Authors and Affiliations

  1. (CNRS URA 821), Centre de Recherche en Automatique de Nancy, 2 av de la forêt de Haye, 54516, Vandoeuvre, France

    Hans-J. von der Hardt, Philippe Arnould, Didier Wolf & Michel Dufaut

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  1. Hans-J. von der Hardt
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  2. Philippe Arnould
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  3. Didier Wolf
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  4. Michel Dufaut
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von der Hardt, HJ., Arnould, P., Wolf, D. et al. A method of mobile robot localisation by fusion of odometric and magnetometric data. Int J Adv Manuf Technol 9, 65–69 (1994). https://doi.org/10.1007/BF01792869

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  • DOI: https://doi.org/10.1007/BF01792869

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