• DocumentCode
    2972539
  • Title

    Terrain feature localization for mobile robots in outdoor environments

  • Author

    Zhu, Xiaorui ; Minor, Mark A.

  • Author_Institution
    Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA
  • fYear
    2009
  • fDate
    22-24 June 2009
  • Firstpage
    1074
  • Lastpage
    1080
  • Abstract
    A novel terrain feature localization technique is proposed in this paper to allow the robot to identify its location relative to measurable terrain characteristics. In the example of a two-axle wheeled mobile robot, a terrain inclination map is extracted from a given topographical map along a specific path. An EKF is used to fuse the measurement data with the robot motion based on the extracted terrain map. Simulations validate the proposed terrain localization technique.
  • Keywords
    Kalman filters; mobile robots; motion control; nonlinear filters; terrain mapping; extended Kalman filter; terrain feature localization technique; terrain inclination map; topographical map along; two-axle wheeled mobile robot; Data mining; Fuses; Global Positioning System; Mobile robots; Motion control; Robot sensing systems; Robotics and automation; Rough surfaces; Sensor phenomena and characterization; Sonar; Localization; Mobile robot; Terrain factors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Information and Automation, 2009. ICIA '09. International Conference on
  • Conference_Location
    Zhuhai, Macau
  • Print_ISBN
    978-1-4244-3607-1
  • Electronic_ISBN
    978-1-4244-3608-8
  • Type

    conf

  • DOI
    10.1109/ICINFA.2009.5205077
  • Filename
    5205077
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2972539