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Event based localization in Ackermann steering limited resource mobile robots

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Event based localization in Ackermann steering limited resource mobile robots

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dc.contributor.author Marín, Leonardo es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Soriano Vigueras, Ángel es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Albertos Pérez, Pedro es_ES
dc.date.accessioned 2014-07-08T11:10:33Z
dc.date.issued 2014-08
dc.identifier.issn 1083-4435
dc.identifier.uri http://hdl.handle.net/10251/38664
dc.description “© 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.”
dc.description.abstract 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. es_ES
dc.description.sponsorship 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. en_EN
dc.format.extent 12 es_ES
dc.language Inglés es_ES
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) es_ES
dc.relation FEDER-CICYT projects [DPI2011-28507- C02-01 and DPI2010-20814-C02-02] es_ES
dc.relation Ministerio de Ciencia e Innovacion (Spain) es_ES
dc.relation University of Costa Rica es_ES
dc.relation.ispartof IEEE/ASME Transactions on Mechatronics es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Dynamic model es_ES
dc.subject Kalman filtering es_ES
dc.subject Embedded systems es_ES
dc.subject Event-based systems es_ES
dc.subject Global positioning systems (GPSs) es_ES
dc.subject Inertial sensors es_ES
dc.subject Mobile robots es_ES
dc.subject Pose estimation es_ES
dc.subject Position measurement es_ES
dc.subject Robot sensing systems es_ES
dc.subject Sensor fusion es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Event based localization in Ackermann steering limited resource mobile robots es_ES
dc.type Artículo es_ES
dc.embargo.lift 10000-01-01
dc.embargo.terms forever es_ES
dc.identifier.doi 10.1109/TMECH.2013.2277271
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial es_ES
dc.description.bibliographicCitation 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.2013.2277271 es_ES
dc.description.accrualMethod Senia es_ES
dc.relation.publisherversion http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6585829 es_ES
dc.description.upvformatpinicio 1171 es_ES
dc.description.upvformatpfin 1182 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 19 es_ES
dc.description.issue 4 es_ES
dc.relation.senia 247221


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