Mobile robot localization with Multiple Ultrasonic LPSs and odometry

This video shows the localization of a mobile robot that uses, both, its on board ondometry system and several external U-LPS. The positions obtained using the U-LPS (when available) are used to correct the odometry. The positions obtained by both positioning systems are merged using a H-infinite filter.

In the video:

- Top left is the actual movement of the mobile robot. It is speeded up by a factor x2.
- The rest of the image is the plan of the floor and the trajectory followed by the robot (with a zoom in the top right side). With: * the blue dots are the beacons' projections of the US-LPSs (five beacons each). * the green dots are the positions obtained with the LPS (when available). * the red trajectory is the one obtained using only the odometry system. * the black trajectory is the one obtained after combining positions from the LPS and odometry systems using the H-inf filter.

• Category

  • Science & Technology

• License

  • Standard YouTube License