LOCALIZATION OF A MOBILE ROBOT BASED IN ODOMETRY AND NATURAL LANDMARKS USING EXTENDED KALMAN FILTER

Andre M. Santana, Anderson A. S. Sousa, Ricardo S. Britto, Pablo J. Alsina, Adelardo A. D. Medeiros

Abstract

This work proposes a localization system for mobile robots using the Extended Kalman Filter. The robot navigates in an known environment where the lines of the floor are used as natural landmarks and identifiqued by using the Hough transform.The prediction phase of the Kalman Filter is implemented using the odometry model of the robot. The update phase directly uses the parameters of the lines detected by the Hough algorithm to correct the robot’s pose.

References

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Paper Citation


in Harvard Style

M. Santana A., A. S. Sousa A., S. Britto R., J. Alsina P. and A. D. Medeiros A. (2008). LOCALIZATION OF A MOBILE ROBOT BASED IN ODOMETRY AND NATURAL LANDMARKS USING EXTENDED KALMAN FILTER . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 187-193. DOI: 10.5220/0001499601870193


in Bibtex Style

@conference{icinco08,
author={Andre M. Santana and Anderson A. S. Sousa and Ricardo S. Britto and Pablo J. Alsina and Adelardo A. D. Medeiros},
title={LOCALIZATION OF A MOBILE ROBOT BASED IN ODOMETRY AND NATURAL LANDMARKS USING EXTENDED KALMAN FILTER},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={187-193},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001499601870193},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - LOCALIZATION OF A MOBILE ROBOT BASED IN ODOMETRY AND NATURAL LANDMARKS USING EXTENDED KALMAN FILTER
SN - 978-989-8111-31-9
AU - M. Santana A.
AU - A. S. Sousa A.
AU - S. Britto R.
AU - J. Alsina P.
AU - A. D. Medeiros A.
PY - 2008
SP - 187
EP - 193
DO - 10.5220/0001499601870193