Localization and self-calibration of a robot for volcano exploration

@article{Caltabiano2004LocalizationAS,
  title={Localization and self-calibration of a robot for volcano exploration},
  author={Daniele Caltabiano and Giovanni Muscato and Francesco Russo},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={1},
  pages={586-591 Vol.1}
}
This work describes an algorithm for the localization and self calibration of a mobile robot. Data from a DGPS and two optical encoders are fused by an extended Kalman filter (EKF) in order to calculate the absolute position of the robot and to estimate the values of the parameters used by the odometry (wheels radii and wheelbase). The presented self calibrating EKF (EKF/sub SC/) has been tested both on a simulator and on the mobile robot "Robovolc": a six independently actuated wheels robot… CONTINUE READING
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