Mobile robot localization using beacons and the Kalman filter technique for the Eurobot competition

Abstract

The objective of this work is to propose a landmark based localization system for the Eurobot contest, which enhance the positioning accuracy compared to an odometry based localization. To detect the landmarks a visual sensor which measures the angle between the robot and these landmarks is used. Based on these measurements two approaches to determinate the robot's position are presented: a triangulation method and an extended Kalman filter (EKF) approach. The extended Kalman filter approach combines the landmark measurements and the odometry. A robot from the Eurobot 2010 is used to carry out experimental results for the EKF based localization and present the enhancement of this approach. © 2011 Springer-Verlag.