Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: an EKF approach

Gonçalves, José; Lima, José; Costa, Paulo Gomes da

http://hdl.handle.net/10198/1899

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Authors

Gonçalves, José

Lima, José

Costa, Paulo Gomes da

Abstract(s)

This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SSL). 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

Control Robotics

URI

http://hdl.handle.net/10198/1899

Citation

Gonçalves, José; Lima, José; Costa, Paulo (2008). Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: an EKF approach. In IEEE International Symposium on Industrial Electronics. Cambridge. p.1275-1280. ISBN 978-1-4244-1665-3