Real time tracking of an omnidirectional robot - An extended Kalman filter approach

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

Goncalves, J (Author) Other; Lima, J (Author) Other; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2

Pages: 5-10

5th International Conference on Informatics in Control, Automation and Robotics

Funchal, PORTUGAL, MAY 11-15, 2008

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 4 Citations

Other information

Authenticus ID: P-004-3FF

Abstract (EN): 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, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6