Abstract
Localization is a problem in mobile robotics, which is widely studied and tries to determine the instantaneous position and orientation of the robot. However, the studies that present the necessary infrastructure for real-world applications of the developed methods are in the minority. Therefore, in this study, the architecture required to implement the updated SA-MCL algorithm with the ellipse based energy model in the ROS environment is given. According to the proposed architecture, this algorithm is utilized in a real application and the obtained results are shown. Thus, it is aimed that the researchers who have ROS enabled experimental setup and/or robot model prepared in ROS-Gazebo environment can easily apply the method.
| Original language | English |
|---|---|
| Title of host publication | ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 885-889 |
| Number of pages | 5 |
| ISBN (Electronic) | 9786050112757 |
| DOIs | |
| Publication status | Published - Nov 2019 |
| Event | 11th International Conference on Electrical and Electronics Engineering, ELECO 2019 - Bursa, Turkey Duration: 28 Nov 2019 → 30 Nov 2019 |
Publication series
| Name | ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering |
|---|
Conference
| Conference | 11th International Conference on Electrical and Electronics Engineering, ELECO 2019 |
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| Country/Territory | Turkey |
| City | Bursa |
| Period | 28/11/19 → 30/11/19 |
Bibliographical note
Publisher Copyright:© 2019 Chamber of Turkish Electrical Engineers.
Funding
This study was financially supported by the Scientific and Technological Research Council of Turkey, abbreviated as TUBITAK, under grant number 116E734.
| Funders | Funder number |
|---|---|
| TUBITAK | 116E734 |
| Türkiye Bilimsel ve Teknolojik Araştirma Kurumu |