Abstract
The objective of this work is to propose a landmark based localization system for the Eurobot contest, which enhance the positioning accuracy compared to an odometry based localization. To detect the landmarks a visual sensor which measures the angle between the robot and these landmarks is used. Based on these measurements two approaches to determinate the robot’s position are presented: a triangulation method and an extended Kalman filter (EKF) approach. The extended Kalman filter approach combines the landmark measurements and the odometry. A robot from the Eurobot 2010 is used to carry out experimental results for the EKF based localization and present the enhancement of this approach.
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Bittel, O., Blaich, M. (2011). Mobile Robot Localization Using Beacons and the Kalman Filter Technique for the Eurobot Competition. In: Obdržálek, D., Gottscheber, A. (eds) Research and Education in Robotics - EUROBOT 2011. EUROBOT 2011. Communications in Computer and Information Science, vol 161. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21975-7_6
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DOI: https://doi.org/10.1007/978-3-642-21975-7_6
Publisher Name: Springer, Berlin, Heidelberg
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