Research Article
An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 95 - Issue 13 |
| Published: June 2014 |
| Authors: Ziyad T. Allawi, Turki Y. Abdalla |
10.5120/16654-6632
|
Ziyad T. Allawi, Turki Y. Abdalla . An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization. International Journal of Computer Applications. 95, 13 (June 2014), 21-25. DOI=10.5120/16654-6632
@article{ 10.5120/16654-6632,
author = { Ziyad T. Allawi,Turki Y. Abdalla },
title = { An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization },
journal = { International Journal of Computer Applications },
year = { 2014 },
volume = { 95 },
number = { 13 },
pages = { 21-25 },
doi = { 10.5120/16654-6632 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2014
%A Ziyad T. Allawi
%A Turki Y. Abdalla
%T An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization%T
%J International Journal of Computer Applications
%V 95
%N 13
%P 21-25
%R 10.5120/16654-6632
%I Foundation of Computer Science (FCS), NY, USA
Abstract
In this paper, an accurate method of updating the configuration pose (dead reckoning) for differential drive mobile robot localization is introduced. This method is based on the principles of geometry. This method ensures the most accurate and fast position updating in comparison with the conventional methods of configuration updating. This method was applied on a group of mobile robots in an indoor environment searching for a target.
References
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- Mondada, F. and et al, "The E-puck, a Robot Designed for Education in Engineering," In Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, Vol. 1, No. 1, 2009, pp. 59-65.
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