Abstract
A new algorithm to improve the 3D positioning for low cost mobile robots is presented. The core of the algorithm is based on a Finite State Machine (FSM) which estimates the 3D position and orientation of the robots, also a low pass filter and a threshold calculator are used in the system to filter and to estimate the noise in the sensors. The system sets dynamically the parameters of the algorithm and makes them independent of the noise. The algorithm has been tested with differential wheel drive robots, however it can be used with other different types of robots in a simple way. To improve the accuracy of the estimations, a new reference system based on the accelerometer of the robot is presented which reduces the accumulative error that the odometry produces.
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Socas, R., Dormido, S., Dormido, R., Fabregas, E. (2016). Improving the 3D Positioning for Low Cost Mobile Robots. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_6
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DOI: https://doi.org/10.1007/978-3-319-31898-1_6
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