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Dynamic triangulation for mobile robot localization using an angular state Kalman filter

Author
Font-Llagunes, J.M.; Agullo, J.
Type of activity
Presentation of work at congresses
Name of edition
2nd European Conference on Mobile Robots
Date of publication
2005
Presentation's date
2005-09-07
Book of congress proceedings
Proceedings of the 2nd European Conference on Mobile Robots
First page
20
Last page
25
Publisher
A. Burkowski, W. Burgard, P. Zingaretti
Repository
http://hdl.handle.net/2117/11365 Open in new window
Abstract
Localization is one of the fundamental problems in mobile robot navigation. Several approaches to cope with the dynamic positioning problem have been made. Most of them use an extended Kalman filter (EKF) to estimate the robot configuration –position and orientation– fusing both the robot odometry and external measurements. In this paper, an EKF is applied to estimate the angles, relative to the robot frame, of the straight lines from a rotating laser scanner to a set of landmarks. By means ...
Citation
Font-Llagunes, J.M.; Agullo, J. Dynamic triangulation for mobile robot localization using an angular state Kalman filter. A: 2nd European Conference on Mobile Robots. "2nd European Conference on Mobile Robots". Ancona: A. Burkowski, W. Burgard, P. Zingaretti, 2005, p. 20-25.
Group of research
BIOMEC - Biomechanical Engineering Lab
CREB - Biomedical Engineering Research Centre

Participants