REAL TIME TRACKING OF AN OMNIDIRECTIONAL ROBOT - An Extended Kalman Filter Approach

José Gonçalves, José Lima, Paulo Costa

2008

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.

Paper Citation

in Harvard Style

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 4: ICINCO, ISBN 978-989-8111-31-9, pages 5-10. DOI: 10.5220/0001474500050010

in Bibtex Style

@conference{icinco08,
author={José Gonçalves 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 4: ICINCO,},
year={2008},
pages={5-10},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001474500050010},
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 - REAL TIME TRACKING OF AN OMNIDIRECTIONAL ROBOT - An Extended Kalman Filter Approach
SN - 978-989-8111-31-9
AU - Gonçalves J.
AU - Lima J.
AU - Costa P.
PY - 2008
SP - 5
EP - 10
DO - 10.5220/0001474500050010