Design and evaluation of an integrated planar localization method for desktop robotics

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Conference Proceeding
Proceedings - IEEE International Conference on Robotics and Automation, 2004, 2004 (2), pp. 1109 - 1114
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Localization and measurement of displacement are critical aspects to the operation and control of mobile robots. The motion of desktop robots, a class of mobile robots designed for use on a table, can be considered a special case of the general localization problem since the vehicle is primarily operated over a flat surface. Using the assumption that the motion of a desktop robot is essentially planar, this paper presents a novel method that senses the motion of two points to obtain both the position and orientation of the robot in two-dimensional space. The paper details how this method can be implemented using low-cost, off-the-shelf sensor hardware components and demonstrates its application in the Desktop-Bot, a compact desktop robot. Experimental testing validated features of this planar localization such as: estimation with minimal mean error (or drift), no external sensing hardware apparatus (i.e., on-board sensing), fast-update rates (∼50 Hz) and robustness to external occlusion.
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