Odometry-free mobile robot localization using bearing only beacons (original) (raw)

Proceedings of 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010, 2010

Abstract

The paper deals with the localization of mobile robot using the bearing only beacons as the only source of sensor data. The localization is based on Extended Kalman Filter. Derivation of localization algorithm is given together with test results for both simulation and real robot equipped with low cost sensor hardware. Beacons use infrared LEDs detected by the receiver on

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