DocumentCode
3177516
Title
Mobile robot localization in a structured environment cluttered with obstacles
Author
Holenstein, Alois A. ; Müller, Markus A. ; Badreddin, Essam
Author_Institution
Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
fYear
1992
fDate
12-14 May 1992
Firstpage
2576
Abstract
The authors describe a method for mobile robot localization in an a priori known structured environment cluttered with unknown obstacles. The method is nearly independent of the number of obstacles encountered. An environment model based on ultrasonic range readings was built and compared with the reference model using clustering techniques. The method is very robust and works well if only a few parts of the environment are known. Results from an implementation on the mobile robot RAMSIS are presented
Keywords
mobile robots; navigation; pattern recognition; position control; sonar; RAMSIS; clustering; mobile robot localization; navigation; object recognition; position control; structured environment; ultrasonic range readings; Automatic control; Binary search trees; Image segmentation; Mobile robots; Navigation; Object recognition; Robot sensing systems; Robotics and automation; Robustness; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220054
Filename
220054
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