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Robot localisation

Robot localisation is crucial for field robot deployment, but can be challenging. Global positioning systems can be noisy and affected by multi-path in urban canyon environments. For outdoor mobile robots, we can solve this by fusing GPS and robot odometry, but in indoor environments alternative solutions are required.

Simultaneous localisation and mapping (SLAM) can address this, but a low cost solution (simple sensors) can be useful in practice. I explored the use of range only-beacons for localisation through a series of final year bachelors thesis projects I co-supervised at the University of Pretoria. These involved the development of a set of range-only localisation beacons and investigations into range-only SLAM and optimal beacon placement strategies.

Publications

Burke, Michael, and Deon Sabatta. “Position Fusion for an Outdoor Mobile Robot.”,3rd Robotics and Mechatronics Symposium (ROBMECH), (2009).

Burke, Michael, and Nico Bos. “Optimal Placement of Range-only Beacons for Mobile Robot Localisation.4th Robotics and Mechatronics Conference of South Africa (ROBMECH 2011) (2011).