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Design and validation of a linear parameter varying localization system
Barbosa J.3; Cardeira C.3; Oliveira P.1; Batista P.1; Silvestre C.1,2
2014
Conference NameIEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
Source Publication2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014
Pages98-103
Conference DateMAY 14-15, 2014
Conference PlaceEspinho
CountryPortugal
Author of SourceIEEE; Sociedade Portuguesa Robotica; IEEE Portugal Sect RA Chapter; IEEE Robot & Automat Soc; Caixa Geral Depositos; Camara Municipal Espinho; Museu Municipal Espinho & Solverde
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

This paper proposes and experimentally validates a landmark-based absolute mobile robot localization system, composed by two filters, one for attitude estimation and the other for position estimation. The estimation is carried out in the body-frame allowing for the model kinematics to be LPV (Linear Parameter Varying), thus using no approximate linearisation. The resultant estimators respect GAS (globally asymptotically stable) error dynamics, are parametrized by odometry data and corrected by landmark position and attitude measurements provided by an on-board RGB-D (red, green, blue and depth) sensor. Experiments were carried out, making use of a wheeled mobile robot and a Qualysis Motion Tracking System for ground-truth validation. Attitude and position as well as linear and angular slippages, both proven observable, are estimated, resulting in an effective real-time localization system without requiring the landmark to be always visible. Error convergence is achieved regardless of the initial estimate of both position and attitude, validating the system global stability. © 2014 IEEE.

DOI10.1109/ICARSC.2014.6849769
URLView the original
Language英语
WOS Research AreaComputer Science ; Engineering ; Robotics
WOS SubjectComputer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics
WOS IDWOS:000343584000017
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被引频次[WOS]:2   [WOS记录]     [WOS相关记录]
Document TypeConference paper
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
3.Universidade de Lisboa
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Barbosa J.,Cardeira C.,Oliveira P.,et al. Design and validation of a linear parameter varying localization system[C]//IEEE; Sociedade Portuguesa Robotica; IEEE Portugal Sect RA Chapter; IEEE Robot & Automat Soc; Caixa Geral Depositos; Camara Municipal Espinho; Museu Municipal Espinho & Solverde. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2014:98-103.
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