Positioning of a mobile robot with landmark-based method

Author

Oussalah, M. ; Maaref, H. ; Barret, C.

Author_Institution

Complex Syst. Group, Univ. of Evry Vai Essonnes, France

Volume

2

fYear

1997

fDate

7-11 Sep 1997

Firstpage

865

Abstract

In order to develop an autonomous system, the problem of determining accurately the position of the robot has to be solved. In this paper we deal with landmark-based method where the location of the landmark is known with regard to the environment. These landmarks are composed of a set of infrared LEDs that help the mobile robot to accurately increase the accuracy of the estimation of its local position as given by the odometer sensor. Odometry reading and exteroceptive sensors are modelled in the setting of the possibility theory. The possibility distributions relative to different sensors are turned into the same referential, and then combined by means of an adaptive combination rule

Keywords

adaptive signal processing; distance measurement; infrared detectors; intelligent control; mobile robots; path planning; position control; possibility theory; sensor fusion; adaptive combination rule; autonomous mobile robot; data fusion; exteroceptive sensors; infrared LED; landmark-based method; odometer sensor; position control; possibility distributions; possibility theory; Bayesian methods; Calibration; Degradation; Infrared sensors; Light emitting diodes; Mobile robots; Navigation; Possibility theory; Robot sensing systems; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.655111

Filename

655111