Tracking Robots Using Laser Rangefinders and Kalman Filters
by
Aleksandr Aravkin
The talk will focus on an application of Kalman filters to solve a
specific problem in autonomous robot navigation. Dieter Fox's research
will be introduced, specifically his work in exploration and mapping of an
environment by a team of robots. I will motivate accurate robot tracking
in the scope of this larger project. Robots can communicate with one
another using a network protocol, and they have laser rangefinders with
which to detect other robots in the environment. However, this data and
the robots' own odometry information is subject to random Gaussian
noise, and so Kalman filters will be introduced as a powerful solution to
this problem. After providing some background, I will describe my own
work in implementing a Kalman filter to enable tracking of one robot by
another.
Advised by Dieter Fox
MGH 251
Wednesday
February 25, 2004
3:30 - 4:20 pm