Title :
Set membership localization of mobile robots via angle measurements
Author :
Garulli, Andrea ; Vicino, Antonio
Author_Institution :
Dipt. di Ingegneria dell´´Inf., Siena Univ., Italy
fDate :
8/1/2001 12:00:00 AM
Abstract :
This paper addresses the localization problem for a mobile robot navigating in an unstructured outdoor environment. A new technique is introduced, for computing an estimate of the position of the robot and the related uncertainty region, in the presence of visual angle measurements affected by bounded errors. The proposed set membership estimation procedure exploits the structure of the static set estimator, to solve recursively the dynamic localization problem
Keywords :
angular measurement; mobile robots; position measurement; set theory; angle measurements; bounded errors; dynamic localization problem; mobile robot navigation; robot position estimation; set membership localization; static set estimator; uncertainty region; unstructured outdoor environment; visual angle measurements; Filtering; Goniometers; Measurement errors; Mobile robots; Navigation; Position measurement; Recursive estimation; Robot kinematics; Robot sensing systems; Sensor systems;
Journal_Title :
Robotics and Automation, IEEE Transactions on
