Code migration from a realistic simulator to a real robot

• Author(s): Gonçalves, José ; Lima, José ; Malheiros, Paulo ; Costa, Paulo Gomes da
• Date: 2009
• Persistent ID: http://hdl.handle.net/10198/1900
• Origin: Biblioteca Digital do IPB
• Subject(s): Control; Robotics
• Document Type: Conference object
• Language: English
• Contributor(s): Biblioteca Digital do IPB

Description

This paper describes the code migration from a realistic simulator to a real wheeled mobile robot. The robot software consists in the localization and navigation of an omnidirectional robot in a structured environment. The localization estimate is achieved by fusing odometry and infra-red distance sensors data, applying an extended Kalman filter.