Small autonomous robot localization system

Author

Obdrzalek, David

Author_Institution

Fac. of Math. & Phys., Charles Univ. in Prague, Prague, Czech Republic

fYear

2009

fDate

16-18 Nov. 2009

Firstpage

461

Lastpage

463

Abstract

This paper presents localization system used for localization of a small indoor autonomous robot (30 Ã— 30 Ã— 35 cm). The core of the system is Monte Carlo localization technique (MCL). As inputs for the MCL, the system uses robot-mounted sensors (wheel encoders, infrared distance sensors, compass, and bumpers) and off-robot beacon system (deployed around the working area of the robot). The robot has been built as part of semester work of a student team and it has successfully participated in Czech National Cup of Eurobot Autonomous Robot Contest in 2009. Manipulators and general hardware design of the robot were specific to Eurobot 2009 contest edition, but it is possible to use the robot for other tasks in indoor environments with just little modifications.

Keywords

Monte Carlo methods; mobile robots; Monte Carlo localization technique; robot-mounted sensors; small autonomous robot localization system; Hardware; Indoor environments; Infrared sensors; Manipulators; Mobile robots; Monte Carlo methods; Robot localization; Robot sensing systems; Sensor systems; Wheels; Eurobot contest; autonomous robot; localization;

fLanguage

English

Publisher

ieee

Conference_Titel

Research and Development (SCOReD), 2009 IEEE Student Conference on

Conference_Location

UPM Serdang

Print_ISBN

978-1-4244-5186-9

Electronic_ISBN

978-1-4244-5187-6

Type

conf

DOI

10.1109/SCORED.2009.5442972

Filename

5442972