Vision localization system for mobile robot with velocities and acceleration estimator

• Autorzy: Dutkiewicz P. , Kielczewski M. , Kozłowski K. , Pazderski D.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a localization system for a mobile robot using the vision system and LED markers and considers the problem of velocity and acceleration estimation in the case of planar motions. Theoretical considerations include the principle of measurement and the details of Kalman estimator with illustrations based on experimental setup. The presented measurement system can be used for a realization of advanced control algorithms for skid-steering mobile robots where significant slippage phenomenon appears.

Słowa kluczowe

EN

vision localization system; mobile robot; acceleration estimator

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2010
• Tom: Vol. 58, nr 1
• Strony: 29--41
• Opis fizyczny: Bibliogr. 21 poz., rys., fot.

Twórcy

autor

Dutkiewicz P.

autor

Kielczewski M.

autor

Kozłowski K.

autor

Pazderski D.

• Chair of Control and Systems Engineering, Poznan University of Technology, 3a Piotrowo St., 60-965 Poznan, Poland,

Bibliografia

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