Localization and Mapping of Cheap Educational Robot with Low Bandwidth Noisy IR Sensors

Muhammad Habib Mahmood, Pere Ridao Rodriguez

2017

Abstract

The advancements in robotics has given rise to the manufacturing of affordable educational mobile robots. Due to their size and cost, they possess limited global localization and mapping capability. The purpose of producing these robots is not fully materialized if advance algorithms cannot be demonstrated on them. In this paper, we address this limitation by just using dead-reckoning and low bandwidth noisy infrared sensors for localization in an unknown environment. We demonstrate Extended Kalman Filter implementation, produce a map of the unknown environment by Occupancy grid mapping and based on this map, perform particle filtering to do Monte-Carlo Localization. In our implementation, we use the low cost e-puck mobile robot, which performs these tasks. We also putforth an empirical evaluation of the results, which shows convergence. The presented results provide a base to further build on the navigation and path-planning problems.

Paper Citation

in Harvard Style

Habib Mahmood M. and Ridao Rodriguez P. (2017). Localization and Mapping of Cheap Educational Robot with Low Bandwidth Noisy IR Sensors . In Proceedings of the 6th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-222-6, pages 583-590. DOI: 10.5220/0006204305830590

in Bibtex Style

@conference{icpram17,
author={Muhammad Habib Mahmood and Pere Ridao Rodriguez},
title={Localization and Mapping of Cheap Educational Robot with Low Bandwidth Noisy IR Sensors},
booktitle={Proceedings of the 6th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2017},
pages={583-590},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006204305830590},
isbn={978-989-758-222-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Localization and Mapping of Cheap Educational Robot with Low Bandwidth Noisy IR Sensors
SN - 978-989-758-222-6
AU - Habib Mahmood M.
AU - Ridao Rodriguez P.
PY - 2017
SP - 583
EP - 590
DO - 10.5220/0006204305830590