期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：1
页码：28
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Research on multi-robot systems often demands the use of a large population of small, cheap, and low capability mobile robots. Many non-trivial behaviors demand these robots to be localized in real-time. This paper addresses the problem of absolute localization of such low capability robots using onboard sensors and local computation. The approach is based on the use of a pair of scan lines per- ceived by an onboard B&W camera to detect and decode artificial visual landmarks deployed along the environ- ment. Each landmark consists on a dual-layer barcode which can encode its pose with respect to a global co- ordinate frame. Thus, the robot is not required to store a map of the landmark locations onboard. The method is based on an Extended Kalman Filter (EKF) fusing odome- try readings with absolute pose estimates obtained from the camera. Experimental results using an e-puck robot with 8 KB of RAM and a 16 MIPs processor are presented, comparing the location estimates with both ground truth and odometry.
