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A relative localisation system of a mobile robot


This paper describes a localisation system applied to vehicle displacements on irregular grounds and at moderate speed (about 1 m/s). It is composed of a gyrometer and a Doppler sensor, which give, by integration, the attitude and position of the vehicle supporting them, without contact with the ground. The precision of the obtained localisation is about 2% for ranges of about a hundred meters.

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Julliere, M., Place, H., Bazin, E. et al. A relative localisation system of a mobile robot. J Intell Robot Syst 1, 243–257 (1988).

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Key words

  • Mobile robot
  • localisation
  • inertial systems
  • Doppler sensors
  • contactless measurements