Title :
Bearing only mobile robots´ localization: Observability and formulation using SIS particle filters
Author :
Mirabdollah, M.H. ; Mertsching, Barbel
Author_Institution :
Fac. of Electr. Eng., Math. & Comput. Sci., Univ. of Paderborn, Paderborn, Germany
Abstract :
In this paper the localization problem of mobile robots using bearing only measurement which is mostly used for mono vision robot, is investigated. Firstly the observability of the problem is discussed and then the position estimation of the robot using SIS particle filter is formulated. The performance of this method is discussed in comparison to the case that only range measurement is used and the case that both measurements are utilized.
Keywords :
mobile robots; observability; particle filtering (numerical methods); position measurement; SIS particle filters; bearing only measurement; localization problem; mobile robots; mono vision robot; position estimation; range measurement; Equations; Estimation; Mathematical model; Mobile robots; Noise; Observability;
Conference_Titel :
Communications, Computing and Control Applications (CCCA), 2011 International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4244-9795-9
DOI :
10.1109/CCCA.2011.6031539
