Uncertainty sets for dynamic localization of mobile robots

Author

Garulli, Andrea ; Vicino, Antonio

Author_Institution

Dipt. di Ingegneria dell´´Inf., Siena Univ., Italy

Volume

2

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

1240

Abstract

The paper addresses the localization problem for a mobile robot navigating in an unstructured outdoor environment. A novel 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; computerised navigation; mobile robots; position control; set theory; uncertain systems; bounded errors; dynamic localization; dynamic localization problem; localization problem; mobile robot navigation; mobile robots; position estimation; robot position; set membership estimation procedure; static set estimator; uncertainty region; uncertainty sets; unstructured outdoor environment; visual angle measurements; Goniometers; Mobile robots; Navigation; Position measurement; Recursive estimation; Robot kinematics; Robot sensing systems; Sensor systems; Uncertainty; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.830102

Filename

830102