Odometry-free mobile robot localization using bearing only beacons

0347216 - ÚT 2011 RIV MK eng C - Konferenční příspěvek (zahraniční konf.)
Krejsa, Jiří - Věchet, S.
Odometry-free mobile robot localization using bearing only beacons.
Proceedings of EPE-PEMC 2010. Skopje: Ss. Cyril and Methodius University, 2010, T5/40-T5/45. ISBN 978-1-4244-7854-5.
[International Power Electronics and Motion Control Conference /14./. Ohrid (MK), 06.09.2010-08.09.2010]
Výzkumný záměr: CEZ:AV0Z20760514
Klíčová slova: robotics * estimation technique
Kód oboru RIV: JD - Využití počítačů, robotika a její aplikace

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.
Trvalý link: http://hdl.handle.net/11104/0188043