Title :
Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: An EKF approach
Author :
Gonçalves, José ; Lima, José ; Costa, Paulo
Author_Institution :
Dept. of Electr. Eng., Polytech. Inst. of Braganca, Braganca
fDate :
June 30 2008-July 2 2008
Abstract :
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real-time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter.
Keywords :
Kalman filters; mobile robots; multi-robot systems; robot vision; sensor fusion; Robocup small size league; autonomous omnidirectional mobile robot; extended Kalman filter; global vision data fusion; real-time localization; robust localization system; Equations; Filtering; Global Positioning System; Mobile robots; Navigation; Real time systems; Robustness; Service robots; Unmanned aerial vehicles; Wheels;
Conference_Titel :
Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium on
Conference_Location :
Cambridge
Print_ISBN :
978-1-4244-1665-3
Electronic_ISBN :
978-1-4244-1666-0
DOI :
10.1109/ISIE.2008.4676878
