干旱区生态环境知识资源中心(Arid): Multi-sensor fusion SLAM approach for the mobile robot with a bio-inspired polarised skylight sensor

Arid

DOI	10.1049/iet-rsn.2020.0260
	Multi-sensor fusion SLAM approach for the mobile robot with a bio-inspired polarised skylight sensor
	Du, Tao; Zeng, Yun Hao; Yang, Jian; Tian, Chang Zheng; Bai, Peng Fei
通讯作者	Du, T
来源期刊	IET RADAR SONAR AND NAVIGATION
ISSN	1751-8784
EISSN	1751-8792
出版年	2020
卷号	14 期号:12 页码:1950-1957
英文摘要	A multi-sensor fusion approach for simultaneous localisation and mapping (SLAM) based on a bio-inspired polarised skylight sensor is presented in this study. The innovation of the proposed approach is that a newly designed bio-inspired polarised skylight sensor, which is inspired by the navigation principle of desert ant, is introduced to improve the accuracy of SLAM. The measurement equations based on a polarised skylight sensor and a lidar are derived to obtain the orientation and position of the mobile robot and landmarks. Three kinds of non-linear filters, extended Kalman filter (EKF), unscented Kalman filter, and particle filter, are adopted and compared to fuse the polarised skylight sensor, lidar, and odometry to estimate the position, orientation, and map in the experiments. Simulation tests and experiments are conducted to validate the effectiveness of the proposed method. The simulations show that the EKF-SLAM with the polarised skylight sensor reduces the error of localisation about 30% and the error of mapping about 25%. Experiments indicate that the proposed EKF-SLAM approach can reduce the error of position and the heading angle, which verifies the proposed EKF-SLAM method, can be used for the outdoor with the low-cost multi-sensor.
英文关键词	mobile robots Kalman filters nonlinear filters particle filtering (numerical methods) robot vision sensor fusion SLAM (robots) multisensor fusion approach newly designed bio-inspired polarised skylight sensor mobile robot EKF-SLAM approach low-cost multisensor multisensor fusion SLAM approach
类型	Article
语种	英语
收录类别	SCI-E
WOS记录号	WOS:000595798800011
WOS关键词	SIMULTANEOUS LOCALIZATION ; NAVIGATION ; ALGORITHM ; CAMERA ; ROBUST ; INDOOR ; FILTER ; GPS ; SKY
WOS类目	Engineering, Electrical & Electronic ; Telecommunications
WOS研究方向	Engineering ; Telecommunications
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/327849
作者单位	[Du, Tao; Zeng, Yun Hao; Tian, Chang Zheng; Bai, Peng Fei] North China Univ Technol, Sch Informat Sci & Technol, Beijing 100043, Peoples R China; [Yang, Jian] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
推荐引用方式 GB/T 7714	Du, Tao,Zeng, Yun Hao,Yang, Jian,et al. Multi-sensor fusion SLAM approach for the mobile robot with a bio-inspired polarised skylight sensor[J],2020,14(12):1950-1957.
APA	Du, Tao,Zeng, Yun Hao,Yang, Jian,Tian, Chang Zheng,&Bai, Peng Fei.(2020).Multi-sensor fusion SLAM approach for the mobile robot with a bio-inspired polarised skylight sensor.IET RADAR SONAR AND NAVIGATION,14(12),1950-1957.
MLA	Du, Tao,et al."Multi-sensor fusion SLAM approach for the mobile robot with a bio-inspired polarised skylight sensor".IET RADAR SONAR AND NAVIGATION 14.12(2020):1950-1957.