Pose and Velocity Estimation for Soccer Robots
Keywords:localization, pose estimation, Kalman filtering, RoboCup MSL
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.
Natural Sciences & Engineering
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