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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Autores

Gonçalves, José

Lima, José

Costa, Paulo Gomes da

Resumo(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.

Palavras-chave

Control Robotics

URI

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

Citação

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

Editora

IEEE

Coleções

ESTiG - Publicações em Proceedings Indexadas à WoS/Scopus

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