Efficient embedded software implementation of a low cost robot localization system

Abstract

Localization is an important aspect in mobile robots. Several techniques were proposed for robot localization. They use either complex computing methods (like kalman filter) or expensive sensors (like 3D laser) or both. For all these techniques, embedded implementations are barely discussed. In this paper, we present an enhanced low cost localization technique and focus on its parallelization on an embedded System on Chip to satisfy real time constraints.