Ego-Motion Estimation and Collision Detection for Omnidirectional Robots

Authors:
Martin Lauer
Affiliations:
University of Osnabrück, Institute of Cognitive Science and, Institute of Computer Science, 49069 Osnabrück, Germany
Venue:
RoboCup 2006: Robot Soccer World Cup X
Year:
2006

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Abstract

We propose an algorithm to estimate the ego-motion of an omnidirectional robot based on a sequence of position estimates. Thereto, we derive a motion model for omnidirectional robots and an estimation procedure to fit the model to observed positions. Additionally, we show how we can benefit from the velocity estimates deriving an algorithm that recognizes situations in which a robot is blocked by an obstacle.