Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

Detalhes bibliográficos
Autor(a) principal: Santana, Andre M.
Data de Publicação: 2008
Outros Autores: Sousa, Anderson A. S., Britto, Ricardo S., Alsina, Pablo J., Medeiros, Adelardo Adelino Dantas de
Tipo de documento: Artigo
Idioma: por
Título da fonte: Repositório Institucional da UFRN
Texto Completo: https://repositorio.ufrn.br/jspui/handle/1/6150
Resumo: SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.
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spelling Santana, Andre M.Sousa, Anderson A. S.Britto, Ricardo S.Alsina, Pablo J.Medeiros, Adelardo Adelino Dantas de2011-03-18T14:14:24Z2011-03-18T14:14:24Z2008SANTANA, A. M.; SOUZA, A. A. S.; BRITTO, R. S.; ALSINA, P. J.; MEDEIROS, A. A. D. (2008)https://repositorio.ufrn.br/jspui/handle/1/6150SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.This work proposes a localization system for mobile robots using the Extended Kalman Filter. The robot navigates in an known environment where the lines of the floor are used as natural landmarks and identifiqued by using the Hough transform.The prediction phase of the Kalman Filter is implemented using the odometry model of the robot. The update phase directly uses the parameters of the lines detected by the Hough algorithm to correct the robot’s poseporInternational Conference on Informatics in Control, Automation and RoboticsRobot localizationKalman filterSensor fusionLocalization of a mobile robot based on odometry and natural landmarks using extended kalman filterinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRNinstname:Universidade Federal do Rio Grande do Norte (UFRN)instacron:UFRNORIGINAL2008Eve_Localization of a Mobile Robot_AdelardoADM.pdf2008Eve_Localization of a Mobile Robot_AdelardoADM.pdfapplication/pdf204800https://repositorio.ufrn.br/bitstream/1/6150/1/2008Eve_Localization%20of%20a%20Mobile%20Robot_AdelardoADM.pdf233e3860fc18e7cad56da268639319aeMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-81748https://repositorio.ufrn.br/bitstream/1/6150/2/license.txt8a4605be74aa9ea9d79846c1fba20a33MD52TEXT2008Eve_Localization of a Mobile Robot_AdelardoADM.pdf.txt2008Eve_Localization of a Mobile Robot_AdelardoADM.pdf.txtExtracted texttext/plain20752https://repositorio.ufrn.br/bitstream/1/6150/7/2008Eve_Localization%20of%20a%20Mobile%20Robot_AdelardoADM.pdf.txt818edd1ceb317a9e954731a503b39e03MD57THUMBNAIL2008Eve_Localization of a Mobile Robot_AdelardoADM.pdf.jpg2008Eve_Localization of a Mobile Robot_AdelardoADM.pdf.jpgIM Thumbnailimage/jpeg5750https://repositorio.ufrn.br/bitstream/1/6150/8/2008Eve_Localization%20of%20a%20Mobile%20Robot_AdelardoADM.pdf.jpg3a27cbe8c8cd927b47036aacaa511fecMD581/61502017-11-02 13:46:06.676oai:https://repositorio.ufrn.br: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Repositório de PublicaçõesPUBhttp://repositorio.ufrn.br/oai/opendoar:2017-11-02T16:46:06Repositório Institucional da UFRN - Universidade Federal do Rio Grande do Norte (UFRN)false
dc.title.pt_BR.fl_str_mv Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
title Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
spellingShingle Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
Santana, Andre M.
Robot localization
Kalman filter
Sensor fusion
title_short Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
title_full Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
title_fullStr Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
title_full_unstemmed Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
title_sort Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter
author Santana, Andre M.
author_facet Santana, Andre M.
Sousa, Anderson A. S.
Britto, Ricardo S.
Alsina, Pablo J.
Medeiros, Adelardo Adelino Dantas de
author_role author
author2 Sousa, Anderson A. S.
Britto, Ricardo S.
Alsina, Pablo J.
Medeiros, Adelardo Adelino Dantas de
author2_role author
author
author
author
dc.contributor.author.fl_str_mv Santana, Andre M.
Sousa, Anderson A. S.
Britto, Ricardo S.
Alsina, Pablo J.
Medeiros, Adelardo Adelino Dantas de
dc.subject.por.fl_str_mv Robot localization
Kalman filter
Sensor fusion
topic Robot localization
Kalman filter
Sensor fusion
description SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.
publishDate 2008
dc.date.issued.fl_str_mv 2008
dc.date.accessioned.fl_str_mv 2011-03-18T14:14:24Z
dc.date.available.fl_str_mv 2011-03-18T14:14:24Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.citation.fl_str_mv SANTANA, A. M.; SOUZA, A. A. S.; BRITTO, R. S.; ALSINA, P. J.; MEDEIROS, A. A. D. (2008)
dc.identifier.uri.fl_str_mv https://repositorio.ufrn.br/jspui/handle/1/6150
identifier_str_mv SANTANA, A. M.; SOUZA, A. A. S.; BRITTO, R. S.; ALSINA, P. J.; MEDEIROS, A. A. D. (2008)
url https://repositorio.ufrn.br/jspui/handle/1/6150
dc.language.iso.fl_str_mv por
language por
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv International Conference on Informatics in Control, Automation and Robotics
publisher.none.fl_str_mv International Conference on Informatics in Control, Automation and Robotics
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFRN
instname:Universidade Federal do Rio Grande do Norte (UFRN)
instacron:UFRN
instname_str Universidade Federal do Rio Grande do Norte (UFRN)
instacron_str UFRN
institution UFRN
reponame_str Repositório Institucional da UFRN
collection Repositório Institucional da UFRN
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