ASYNCHRONOUS AND TIME-DELAYED SENSOR FUSION OF A LASER SCANNER NAVIGATION SYSTEM AND ODOMETRY

Mariolino De Cecco, Luca Baglivo, Enrico Ervas, Enrico Marcuzzi

Abstract

This paper presents a description of the ‘sensor fusion’ algorithm for our proprietary new navigation system, the LS_NAV, which is based on laser range scanning data inside natural environment. The fusion is exploited between odometric navigation and the LS_NAV. In the proposed algorithm the accuracy of both navigation systems is estimated as a function of the actual manoeuvre being carried out. The method allows compensating the drift of the incremental system estimation, high data rate and noise reduction of the LS_NAV estimates. Experimental verification is carried out using an autonomous vehicle.

Keywords

sensor fusion, AGV navigation, laser scanner

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PWC-2006-TC17-004u.pdf

DOI

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IMEKO TC

TC17 - Measurement in Robotics

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