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Authors: Andre M. Santana ; Anderson A. S. Sousa ; Ricardo S. Britto ; Pablo J. Alsina and Adelardo A. D. Medeiros

Affiliation: Federal University of Rio Grande do Norte, Brazil

Keyword(s): Robot Localization, Kalman Filter, Sensor Fusion.

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

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.

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Paper citation in several formats:
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 3: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 187-193. DOI: 10.5220/0001499601870193

@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 3: ICINCO},
year={2008},
pages={187-193},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001499601870193},
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 - LOCALIZATION OF A MOBILE ROBOT BASED IN ODOMETRY AND NATURAL LANDMARKS USING EXTENDED KALMAN FILTER
SN - 978-989-8111-31-9
IS - 2184-2809
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
PB - SciTePress

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