Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: an EKF 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: 2008 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-5

Pages: 1-6

IEEE International Symposium on Industrial Electronics

Cambridge, ENGLAND, JUN 30-JUL 02, 2008

Indexing

ISI Web of Knowledge - 28 Citations

Scopus - 10 Citations

Other information

Authenticus ID: P-004-5PK

DOI: 10.1109/isie.2008.4676878

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 onmidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6