3D Positioning Algorithm for Low Cost Mobile Robots

Rafael Socas; Sebastian Dormido; Raquel Dormido; Ernesto Fabregas

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Paper

3D Positioning Algorithm for Low Cost Mobile Robots

Topics: Guidance, Navigation and Control; Robot Design, Development and Control; Vehicle Control Applications

In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 5-14, 2015 , Colmar, Alsace, France

Authors: Rafael Socas ; Sebastian Dormido ; Raquel Dormido and Ernesto Fabregas

Affiliation: UNED University, Spain

Keyword(s): 3D Positioning, Mobile Robots, Sensors.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 5-14. DOI: 10.5220/0005480900050014

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Socas, R.
AU - Dormido, S.
AU - Dormido, R.
AU - Fabregas, E.
PY - 2015
SP - 5
EP - 14
DO - 10.5220/0005480900050014
PB - SciTePress