Universidad de Costa Rica

Event-based localization in ackermann steering limited resource mobile robots

Ing. Leonardo José Marín Paniagua, PhD.
Leonardo Marin and Marina Vallés and Angel Soriano and Angel Valera and Pedro Albertos
IEEE/ASME Transactions on Mechatronics


This paper presents a local sensor fusion technique with an event-based global position correction to improve the localization of a mobile robot with limited computational resources. The proposed algorithms use a modified Kalman filter and a new local dynamic model of an Ackermann steering mobile robot. It has a similar performance but faster execution when compared to more complex fusion schemes, allowing its implementation inside the robot. As a global sensor, an event-based position correction is implemented using the Kalman filter error covariance and the position measurement obtained from a zenithal camera. The solution is tested during a long walk with different trajectories using a LEGO Mindstorm NXT robot.

© 2020 Escuela de Ingeniería Eléctrica, Universidad de Costa Rica.