期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：4
页码：203
DOI：10.5772/56217
语种：English
出版社：SAGE Publications
摘要：Precise localization of mobile robots in uncertain environments is a fundamental and crucial issue in robotics. In this paper, to deal with the unbounded accumulated errors of dead reckoning (DR)-based localization, wireless sensor network (WSN)-based localization is applied to calibrate the uncertainty of odometry using a Kalman filter (KF). In addition, to further aid in obtaining precise positions and reduce uncertainty, a novel backward dead reckoning (BDR) localization approach is proposed. The experimental results demonstrate the success and reliability of the proposed method.
关键词：Dead Reckoning; Kalman Filter; Mobile Robot Localization; Wireless Sensor Network
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