Implementation of Kalman filter for the indoor location system of a Lego NXT mobile robot

• López Osorio, Leidy ^[1] ; Bermúdez Bohórquez, Giovanni ^[1] ; Pérez Pereira, Miguel ^[1]
  1. [1] Universidad Distrital Francisco José de Caldas

     Universidad Distrital Francisco José de Caldas

     Colombia

     
• Localización: Visión electrónica, ISSN 1909-9746, ISSN-e 2248-4728, Vol. 8, Nº. 1, 2014, págs. 125-133
• Idioma: inglés
• Enlaces
  • Texto completo (pdf)
• Resumen

  • This paper shows the implementation of an estimation technique based on Kalman filter to correct accumulated errors that occur along a trajectory when tracking location over a mobile platform (Lego NXT 2.0 type) in a known environment. The implementation begins with kinematic models and odometers to subsequently construct the filter and conduct the corresponding experimentation.