Pose and velocity estimation for soccer robots

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Abstract

This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator.
Original languageEnglish
Number of pages4
JournalStudent Undergraduate Research E-Journal
Volume4
DOIs
Publication statusPublished - 9 Nov 2018

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