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An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization

by Ziyad T. Allawi, Turki Y. Abdalla
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 95 - Number 13
Year of Publication: 2014
Authors: Ziyad T. Allawi, Turki Y. Abdalla
10.5120/16654-6632

Ziyad T. Allawi, Turki Y. Abdalla . An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization. International Journal of Computer Applications. 95, 13 ( June 2014), 21-25. DOI=10.5120/16654-6632

@article{ 10.5120/16654-6632,
author = { Ziyad T. Allawi, Turki Y. Abdalla },
title = { An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization },
journal = { International Journal of Computer Applications },
issue_date = { June 2014 },
volume = { 95 },
number = { 13 },
month = { June },
year = { 2014 },
issn = { 0975-8887 },
pages = { 21-25 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume95/number13/16654-6632/ },
doi = { 10.5120/16654-6632 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:19:21.986095+05:30
%A Ziyad T. Allawi
%A Turki Y. Abdalla
%T An Accurate Dead Reckoning Method based on Geometry Principles for Mobile Robot Localization
%J International Journal of Computer Applications
%@ 0975-8887
%V 95
%N 13
%P 21-25
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

In this paper, an accurate method of updating the configuration pose (dead reckoning) for differential drive mobile robot localization is introduced. This method is based on the principles of geometry. This method ensures the most accurate and fast position updating in comparison with the conventional methods of configuration updating. This method was applied on a group of mobile robots in an indoor environment searching for a target.

References
  1. Siciliano, B. and Khatib, O. (Eds. ), Springer Handbook of Robotics, Springer-Verlag Berlin Heidelberg, Germany, 2008.
  2. Siegwart, R. and Nourbakhsh, I. R. , Introduction to Autonomous Mobile Robots, MIT Press, Cambridge, UK, 2004.
  3. Corke, P. , Robotics, Vision and Control, Springer Tracts in Advanced Robotics, Springer-Verlag Berlin Heidelberg, Germany, 2011.
  4. Chong, K. S. , Kleeman, L. , "Accurate Odometry and Error Modeling for a Mobile Robot," in Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, 1997.
  5. Mondada, F. and et al, "The E-puck, a Robot Designed for Education in Engineering," In Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, Vol. 1, No. 1, 2009, pp. 59-65.
  6. Michel, O. and et al, Cyberbotics' Robot Curriculum, Cyberbotics Ltd. , Wikibooks, Switzerland, 2010.
Index Terms

Computer Science
Information Sciences

Keywords

Dead Reckoning Geometry Localization Navigation Mobile Robots.

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