Set theoretic localization of fast mobile robots using an angle measurement technique

Author

Hanebeck, Uwe D. ; Schmidt, Günther

Author_Institution

Dept. of Autom. Control Eng., Tech. Univ. Munchen, Germany

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1387

Abstract

We study the problem of localizing a mobile robot with an onboard-device making angular measurements on the location of known but indistinguishable landmarks. Novel algorithms are proposed for: 1) efficient posture initialization based on a simple linear solution; and 2) recursive posture estimation. Derived in a set theoretic framework, the algorithms cope with non-white, non-Gaussian noise and deterministic errors. Experiments with the set theoretic posture estimator demonstrate its simplicity and effectiveness in real-world applications

Keywords

angular measurement; goniometers; measurement by laser beam; mobile robots; navigation; position control; recursive estimation; sensor fusion; set theory; angle measurement; angular measurements; deterministic error; landmarks; laser based goniometer; mobile robot localisation; non-Gaussian noise; posture initialization; recursive posture estimation; set theory; Estimation theory; Filtering; Goniometers; Iterative algorithms; Kalman filters; Measurement techniques; Mobile robots; Recursive estimation; Robot kinematics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506900

Filename

506900