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
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;
Conference_Titel :
Power Electronics and Motion Control Conference (EPE/PEMC), 2010 14th International
Conference_Location :
Ohrid
Print_ISBN :
978-1-4244-7856-9
DOI :
10.1109/EPEPEMC.2010.5606893
