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.
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)
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)