Event based localization in Ackermann steering limited resource mobile robots

“© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”This paper presents a local sensor fusion technique with an event-based global position correction to improve the localization of a mobile robot with limited computational resources. The proposed algorithms use a modified Kalman filter and a new local dynamic model of an Ackermann steering mobile robot. It has a similar performance but faster execution when compared to more complex fusion schemes, allowing its implementation inside the robot. As a global sensor, an event-based position correction is implemented using the Kalman filter error covariance and the position measurement obtained from a zenithal camera. The solution is tested during a long walk with different trajectories using a LEGO Mindstorm NXT robot.This work was supported by FEDER-CICYT projects with references DPI2011-28507-C02-01 and DPI2010-20814-C02-02, financed by the Ministerio de Ciencia e Innovacion (Spain). This work was also supported by the University of Costa Rica.Marín, L.; Vallés Miquel, M.; Soriano Vigueras, Á.; Valera Fernández, Á.; Albertos Pérez, P. (2014). Event based localization in Ackermann steering limited resource mobile robots. IEEE/ASME Transactions on Mechatronics. 19(4):1171-1182. doi:10.1109/TMECH.2013.2277271S1171118219

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