3D Positioning Algorithm for Low Cost Mobile Robots

Rafael Socas, Sebastian Dormido, Raquel Dormido, Ernesto Fabregas

Abstract

A new 3D positioning algorithm for low cost robots is proposed. The algorithm is based on a Finite State Machine to estimate the position and orientation of the robot. The system sets dynamically the parameters of the algorithm and makes it independent of the noise in the sensors. The algorithm has been tested for differential wheel drive robots, however it can be used with different types of robots in a simple way. To improve the accuracy of the system, a new reference system based on the accelerometer of the robot is presented which reduces the accumulative error that the odometry produces.

References

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Paper Citation


in Harvard Style

Socas R., Dormido S., Dormido R. and Fabregas E. (2015). 3D Positioning Algorithm for Low Cost Mobile Robots . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 5-14. DOI: 10.5220/0005480900050014


in Bibtex Style

@conference{icinco15,
author={Rafael Socas and Sebastian Dormido and Raquel Dormido and Ernesto Fabregas},
title={3D Positioning Algorithm for Low Cost Mobile Robots},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={5-14},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005480900050014},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - 3D Positioning Algorithm for Low Cost Mobile Robots
SN - 978-989-758-123-6
AU - Socas R.
AU - Dormido S.
AU - Dormido R.
AU - Fabregas E.
PY - 2015
SP - 5
EP - 14
DO - 10.5220/0005480900050014