Pose and Velocity Estimation for Soccer Robots

Authors

  • Johan Kon Eindhoven University of Technology
  • Wouter Houtman Eindhoven University of Technology
  • Wouter Kuipers Eindhoven University of Technology
  • Ren´e van de Molengraft Eindhoven University of Technology

DOI:

https://doi.org/10.25609/sure.v4.2840

Keywords:

localization, pose estimation, Kalman filtering, RoboCup MSL

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.

Student Research Conference 2018

Additional Files

Published

2018-11-09

Issue

Vol. 4 (2018): Student Research Conference 2018

Section

Natural Sciences & Engineering

License

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