Title :
Mobile robot localization in a structured environment cluttered with obstacles
Author :
Holenstein, Alois A. ; Müller, Markus A. ; Badreddin, Essam
Author_Institution :
Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
The authors describe a method for mobile robot localization in an a priori known structured environment cluttered with unknown obstacles. The method is nearly independent of the number of obstacles encountered. An environment model based on ultrasonic range readings was built and compared with the reference model using clustering techniques. The method is very robust and works well if only a few parts of the environment are known. Results from an implementation on the mobile robot RAMSIS are presented
Keywords :
mobile robots; navigation; pattern recognition; position control; sonar; RAMSIS; clustering; mobile robot localization; navigation; object recognition; position control; structured environment; ultrasonic range readings; Automatic control; Binary search trees; Image segmentation; Mobile robots; Navigation; Object recognition; Robot sensing systems; Robotics and automation; Robustness; Vehicles;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220054
