3D Positioning Algorithm for Low Cost Mobile Robots

被引：0
|
作者：
Socas, Rafael [1 ]
Dormido, Sebastian [1 ]
Dormido, Raquel [1 ]
Fabregas, Ernesto [1 ]
机构：
[1] UNED, Dept Comp Sci & Automat Control, Juan Rosal 16, Madrid 28040, Spain
来源：
ICIMCO 2015 PROCEEDINGS OF THE 12TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL. 2 | 2015年
关键词：
3D Positioning; Mobile Robots; Sensors;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new 3D positioning algorithm for low cost robots is proposed. The algorithm is based on a Finite State Machine to estimate the position and orientation of the robot. The system sets dynamically the parameters of the algorithm and makes it independent of the noise in the sensors. The algorithm has been tested for differential wheel drive robots, however it can be used with different types of robots in a simple way. To improve the accuracy of the system, a new reference system based on the accelerometer of the robot is presented which reduces the accumulative error that the odometry produces.
引用
收藏
页码：5 / 14
页数：10
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