20 Feb

Lidar Localization Update

Nathan Pilbrough

Over the past week I have been working on assembling a hardware implementation of a robotic localization system. The robot itself is the LEMUR paperbot or segbot that runs on two wheels with its tail dragging behind for stability. The robot has three external sensors, 2 range finding Lidars and one magnetometer. From these sensors we are able to get the state of the robot and further more with access to the map of the environment we should be able to perform localization with the help of an extended kalman filter. Work this week is focused on getting a simulation working as well as getting the software working on the hardware. An issue that has arisen is the lack of accuracy form the magnetometer and this will have to be fixed before an accurate prediction can be made

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