This paper aims at implementing a localization algorithm, based on a Kalman filter, in order to localize an autonomous lawnmower which operates in an outdoor environment using only low cost sensors. In particular the position and the orientation of the robot are estimated using an IMU (Inertial Measurement Unit), an RFID (Radio Frequency IDentification) antenna and an RFID reader (which reads the presence of RFID tags scattered on the border of the lawn to be mowed) and a Wifi antenna, on-board the robot, which measures the RSSI (Received Signal Strength Indicator) of the signal sent by other Wifi end devices positioned in the working area in known positions. The efficiency of the proposed algorithm is then tested first through simulations and then experimentally on a prototype lawnmower.
A low cost localization algorithm for an autonomous lawnmower / Levratti, Alessio; Secchi, Cristian; Fantuzzi, Cesare. - STAMPA. - (2013), pp. 276-281. (Intervento presentato al convegno 9th International Workshop on Robot Motion and Control, RoMoCo 2013 tenutosi a Wosowo Palace, Poland nel 3-5/07/2013) [10.1109/RoMoCo.2013.6614621].
A low cost localization algorithm for an autonomous lawnmower
LEVRATTI, ALESSIO;SECCHI, Cristian;FANTUZZI, Cesare
2013
Abstract
This paper aims at implementing a localization algorithm, based on a Kalman filter, in order to localize an autonomous lawnmower which operates in an outdoor environment using only low cost sensors. In particular the position and the orientation of the robot are estimated using an IMU (Inertial Measurement Unit), an RFID (Radio Frequency IDentification) antenna and an RFID reader (which reads the presence of RFID tags scattered on the border of the lawn to be mowed) and a Wifi antenna, on-board the robot, which measures the RSSI (Received Signal Strength Indicator) of the signal sent by other Wifi end devices positioned in the working area in known positions. The efficiency of the proposed algorithm is then tested first through simulations and then experimentally on a prototype lawnmower.
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