DocumentCode
3407593
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
fYear
2008
fDate
June 30 2008-July 2 2008
Firstpage
1275
Lastpage
1280
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ISIE.2008.4676878
Filename
4676878
Link To Document