Position tracking using sensor fusion of a wireless network and a laser range finder

2010 ◽  
Author(s):  
Christopher Kirsch ◽  
Christof Rohrig
Keyword(s):  
Wireless Network ◽  
Sensor Fusion ◽  
Position Tracking ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range

Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance

2021 ◽  
Vol 33 (1) ◽  
pp. 33-43
Author(s):  
Kazuhiro Funato ◽  
Ryosuke Tasaki ◽  
Hiroto Sakurai ◽  
Kazuhiko Terashima ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Sensor Fusion ◽  
Experimental Verification ◽  
Inertial Measurement Unit ◽  
Tracking System ◽  
Measurement Unit ◽  
Laser Range Finder ◽  
Range Finder ◽  
Inertial Measurement ◽  
Laser Range

The authors have been developing a mobile robot to assist doctors in hospitals in managing medical tools and patient electronic medical records. The robot tracks behind a mobile medical worker while maintaining a constant distance from the worker. However, it was difficult to detect objects in the sensor’s invisible region, called occlusion. In this study, we propose a sensor fusion method to estimate the position of a robot tracking target indirectly by an inertial measurement unit (IMU) in addition to the direct measurement by an laser range finder (LRF) and develop a human tracking system to avoid occlusion by a mobile robot. Based on this, we perform detailed experimental verification of tracking a specified person to verify the validity of the proposed method.

scholarly journals Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3694
Author(s):  
Mohammed A. H. Ali ◽  
Musa Mailah ◽  
Waheb A. Jabbar ◽  
Khaja Moiduddin ◽  
Wadea Ameen ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Real Time ◽  
Sensor Fusion ◽  
Navigation System ◽  
Laser Range Finder ◽  
Range Finder ◽  
Smart Vehicles ◽  
Laser Range ◽  
The Road

A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.

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