This research addresses the problem of localization of a robot walking on rough terrain. The Parallel Tracking and Mapping (PTAM) algorithm and the Inertial Measurement Unit (IMU) are used to determine the 6-DOF pose. The system operates on-line on the real robot. The inclination of the robot’s platform is determined by using IMU. The localization system is used together with the RRT-based motion planner which allows walking autonomously on rough, previously unknown terrain. Efficiency and precision of the proposed solution are demonstrated by experiments.

 

References

  1. Dominik Belter, P. Skrzypczyński, Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping, Industrial Robot: An International Journal, vol. 40(3), pp. 229-237, 2013 (pdf)

  2. Dominik Belter, P. Skrzypczyński, Precise self-localization of a walking robot on rough terrain using PTAM, Proc. of 15th Int. Conf. on Climbing and Walking Robots 2012, Johns Hopkins University, 2012(Industrial Robot Innovation Award 2012)