DocumentCode
2633523
Title
Odometry-free mobile robot localization using bearing only beacons
Author
Krejsa, J. ; Vechet, S.
Author_Institution
Inst. of Thermomech., AS CR, v.v.i., Brno, Czech Republic
fYear
2010
fDate
6-8 Sept. 2010
Abstract
The paper deals with the localization of mobile robot using the bearing only beacons as the only source of sensor data. The localization is based on Extended Kalman Filter. Derivation of localization algorithm is given together with test results for both simulation and real robot equipped with low cost sensor hardware. Beacons use infrared LEDs detected by the receiver on the robot and position estimator runs on Atmega microcontroller.
Keywords
Kalman filters; distance measurement; infrared detectors; light emitting diodes; mobile robots; position control; Atmega microcontroller; bearing only beacon; extended Kalman filter; infrared LED; mobile robot; odometry; position estimator; robot localization; Mobile robots; Noise; Receivers; Robot kinematics; Robot sensing systems; Trajectory; estimation technique; robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics and Motion Control Conference (EPE/PEMC), 2010 14th International
Conference_Location
Ohrid
Print_ISBN
978-1-4244-7856-9
Type
conf
DOI
10.1109/EPEPEMC.2010.5606893
Filename
5606893
Link To Document