Title :
Uncertainty sets for dynamic localization of mobile robots
Author :
Garulli, Andrea ; Vicino, Antonio
Author_Institution :
Dipt. di Ingegneria dell´´Inf., Siena Univ., Italy
fDate :
6/21/1905 12:00:00 AM
Abstract :
The paper addresses the localization problem for a mobile robot navigating in an unstructured outdoor environment. A novel 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; computerised navigation; mobile robots; position control; set theory; uncertain systems; bounded errors; dynamic localization; dynamic localization problem; localization problem; mobile robot navigation; mobile robots; position estimation; robot position; set membership estimation procedure; static set estimator; uncertainty region; uncertainty sets; unstructured outdoor environment; visual angle measurements; Goniometers; Mobile robots; Navigation; Position measurement; Recursive estimation; Robot kinematics; Robot sensing systems; Sensor systems; Uncertainty; Vehicles;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830102
