Pose and Velocity Estimation for Soccer Robots

  • 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

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.

How to Cite
KON, Johan et al. Pose and Velocity Estimation for Soccer Robots. Student Undergraduate Research E-journal!, [S.l.], v. 4, nov. 2018. ISSN 2468-0443. Available at: <https://journals.library.tudelft.nl/index.php/sure/article/view/2840>. Date accessed: 09 dec. 2018. doi: https://doi.org/10.25609/sure.v4.2840.
Published
2018-11-09