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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2010

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Vision localization system for mobile robot with velocities and acceleration estimator

Dutkiewicz P., Kielczewski M., Kozłowski K., Pazderski D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2010

Vol. 58, nr 1

29-41

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.