Monte Carlo Localization of mini-rovers with low-cost IR sensors

Author

Abrate, Fabrizio ; Bona, Basilio ; Indri, Marina

Author_Institution

Politecnico di Torino, Torino

fYear

2007

fDate

4-7 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

The localization problem is one of the most important and investigated problems in mobile robotics. A great number of solutions have been described in many papers and many different theoretical approaches have been presented. Among the sampling-based approaches Monte Carlo Localization (MCL) exploits the Monte Carlo techniques to solve the localization problem. The MCL approach has been intensively tested on problems involving robots equipped with range sensors such as sonar or laser sensors leading to very good performances. In this paper the application of MCL techniques to the localization of mobile mini-robots, equipped with only low-cost Infra-Red (IR) sensors, is investigated and discussed both in simulation and experimentally.

Keywords

Monte Carlo methods; microrobots; mobile robots; ultrasonic transducers; IR sensors; laser sensors; minirover Monte Carlo localization; mobile minirobots; mobile robotics; sonar sensors; Costs; Filtering; Infrared sensors; Mobile robots; Monte Carlo methods; Robot sensing systems; Robot vision systems; Robotics and automation; Robustness; Sonar;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on

Conference_Location

Zurich

Print_ISBN

978-1-4244-1263-1

Electronic_ISBN

978-1-4244-1264-8

Type

conf

DOI

10.1109/AIM.2007.4412534

Filename

4412534