Odometry-free mobile robot localization using bearing only beacons

被引：14

作者：

Krejsa, J. ^{[1
]}

Vechet, S. ^{[2
]}

机构：

[1] Inst Thermomech AS CR, Vvi, Brno Branch, Brno, Czech Republic

[2] Brno Univ Technol, Fac Mech Engn, Brno, Czech Republic

来源：

PROCEEDINGS OF 14TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (EPE-PEMC 2010) | 2010年

关键词：

robotics; estimation technique;

D O I：

10.1109/EPEPEMC.2010.5606893

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper deals with the localization of mobile robot using the bearing only beacons as the only source of sensor data. The localization is based on Extended Kalman Filter. Derivation of localization algorithm is given together with test results for both simulation and real robot equipped with low cost sensor hardware. Beacons use infrared LEDs detected by the receiver on the robot and position estimator runs on Atmega microcontroller.

引用

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