Code migration from a realistic simulator to a real wheeled mobile robot

• Autor(es): Gonçalves, José ; Lima, José ; Malheiros, Paulo ; Costa, Paulo Gomes da
• Data: 2009
• Identificador Persistente: http://hdl.handle.net/10198/7273
• Origem: Biblioteca Digital do IPB
• Assunto(s): Controlo; Robótica
• Tipo de Documento: Objeto de conferência
• Idioma: Inglês
• Contribuidor(es): Biblioteca Digital do IPB

Descrição

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.