Skip to main content
Conference ProceedingsOPEN ACCESS

Ego-motion estimation and collision detection for omnidirectional robots

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (2007) 4434 LNAI 466-473
DOI: 10.1007/978-3-540-74024-7_47
6Citations
Citations of this article
11Readers
Mendeley users who have this article in their library.

This article is free to access.

Abstract

We propose an algorithm to estimate the ego-motion of an omnidirectional robot based on a sequence of position estimates. Thereto, we derive a motion model for omnidirectional robots and an estimation procedure to fit the model to observed positions. Additionally, we show how we can benefit from the velocity estimates deriving an algorithm that recognizes situations in which a robot is blocked by an obstacle. © Springer-Verlag Berlin Heidelberg 2007.

Cite

CITATION STYLE

APA

Lauer, M. (2007). Ego-motion estimation and collision detection for omnidirectional robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4434 LNAI, pp. 466–473). Springer Verlag. https://doi.org/10.1007/978-3-540-74024-7_47

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free