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Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: An EKF approach

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3 Author(s)
Goncalves, J. ; Dept. of Electr. Eng., Polytech. Inst. of Braganca, Braganca ; Lima, J. ; Costa, P.

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.

Published in:

Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium on

Date of Conference:

June 30 2008-July 2 2008