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Authors: José Gonçalves 1 ; José Lima 1 and Paulo Costa 2

Affiliations: 1 Polytechnic Institute of Bragança, Portugal ; 2 Deec, Faculty of Engineering of the University of Porto, Portugal

Keyword(s): Probabilistic robotics, Kalman Filter, Omnidirectional robots.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.

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Paper citation in several formats:
Gonçalves, J.; Lima, J. and Costa, P. (2008). REAL TIME TRACKING OF AN OMNIDIRECTIONAL ROBOT - An Extended Kalman Filter Approach. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 5-10. DOI: 10.5220/0001474500050010

@conference{icinco08,
author={José Gon\c{C}alves. and José Lima. and Paulo Costa.},
title={REAL TIME TRACKING OF AN OMNIDIRECTIONAL ROBOT - An Extended Kalman Filter Approach},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2008},
pages={5-10},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001474500050010},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - REAL TIME TRACKING OF AN OMNIDIRECTIONAL ROBOT - An Extended Kalman Filter Approach
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Gonçalves, J.
AU - Lima, J.
AU - Costa, P.
PY - 2008
SP - 5
EP - 10
DO - 10.5220/0001474500050010
PB - SciTePress

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