Ego-motion estimation and collision detection for omnidirectional robots

被引：0

作者：

Lauer, Martin ^{[1
]}

机构：

[1] Univ Osnabruck, Inst Cognit Sci, D-49069 Osnabruck, Germany

来源：

RoboCup 2006: Robot Soccer World Cup X | 2007年 / 4434卷

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We propose an algorithm to estimate the ego-motion of an omnidirectional robot based on a sequence of position estimates. Thereto, we derive a motion model for omnidirectional robots and an estimation procedure to fit the model to observed positions. Additionally, we show how we can benefit from the velocity estimates deriving an algorithm that recognizes situations in which a robot is blocked by an obstacle.

引用

页码：466 / 473

页数：8

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