@inproceedings{68f55794e6874f589cdd82e2414cfa37,
title = "Position estimation through sensor data fusion and path control of an omnidirectional robot",
abstract = "The aim of this work consists in improving the position estimation of a three - wheeled omnidirectional robot. The estimation is done with three different sensors: optical mouse, odometry and inertial sensors by using a Kalman filter. It estimates the robot's coordinates and orientation based on the dead reckoning performed by the three sensors; therefore, it can update the initial estimation and deal with irregularities in the displacement like the wheel slip. The robotic platform was implemented and built with commercial components and programmed entirely in an open source platform.",
keywords = "Kalman localization, Three-wheeled omnidirectional robot, optical mouse sensor, position control, sensor fusion",
author = "William Chamorro and Oscar Camacho",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 ; Conference date: 18-10-2017 Through 20-10-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/CCAC.2017.8276414",
language = "Ingl{\'e}s",
series = "2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1--6",
editor = "Diego Patino and Eugenio Yime",
booktitle = "2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings",
}