DocumentCode
1538512
Title
Set membership localization of mobile robots via angle measurements
Author
Garulli, Andrea ; Vicino, Antonio
Author_Institution
Dipt. di Ingegneria dell´´Inf., Siena Univ., Italy
Volume
17
Issue
4
fYear
2001
fDate
8/1/2001 12:00:00 AM
Firstpage
450
Lastpage
463
Abstract
This paper addresses the localization problem for a mobile robot navigating in an unstructured outdoor environment. A new 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; mobile robots; position measurement; set theory; angle measurements; bounded errors; dynamic localization problem; mobile robot navigation; robot position estimation; set membership localization; static set estimator; uncertainty region; unstructured outdoor environment; visual angle measurements; Filtering; Goniometers; Measurement errors; Mobile robots; Navigation; Position measurement; Recursive estimation; Robot kinematics; Robot sensing systems; Sensor systems;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.954757
Filename
954757
Link To Document