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A three dimensional localiser for autonomous robot vehicles*

Published online by Cambridge University Press:  09 March 2009

Lindsay Kleeman
Lindsay Kleeman
Affiliation:
Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton VIC 3168, Australia
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Summary

A novel design of a three dimensional localiser intended for autonomous robot vehicles is presented. A prototype is implemented in air using ultrasonic beacons at known positions, and can be adapted to underwater environments where it has important applications, such as deep sea maintenance, data collection and reconnaissance tasks. The paper presents the hardware design, algorithms for position and orientation determination (six degrees of freedom), and performance results of a laboratory prototype. Two approaches are discussed for position and orientation determination – (i) fast single measurement set techniques and (ii) computationally slower Kalman filter based techniques. The Kalman filter approach allows the incorporation of robot motion information, more accurate beacon modelling and the capability of processing data from more than four beacons, the minimum number required for localisation.

Keywords

Position estimation3–D localisationKalman filteringUltrasonic navigationOrientationUnderwater vehicles
Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995 , pp. 87 - 94
Copyright
Copyright © Cambridge University Press 1995

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