DocumentCode
2025470
Title
Mobile robot localization in dynamic environments using places recognition
Author
Aycard, Olivier ; Laroche, Pierre ; Charpillet, François
Author_Institution
LORIA, Vandoeuvre-les-Nancy, France
Volume
4
fYear
1998
fDate
16-20 May 1998
Firstpage
3135
Abstract
We present a new method to localize a mobile robot in dynamic environments. This method is based on place recognition, and a match between places recognized and the sequence of places that the mobile robot is able to see during a run from an initial place to an ending place. Our method gives a coarse idea of the robot´s position and orientation. Moreover, the robot can determine the actual state of places (i.e. open doors, closed doors)
Keywords
hidden Markov models; mobile robots; navigation; object recognition; path planning; pattern matching; position control; ultrasonic transducers; dynamic environments; hidden Markov model; localization; mobile robot; navigation; pattern match; place based positioning; places recognition; position control; transition probability; ultrasonic sensors; Dead reckoning; Grid computing; Mobile robots; Navigation; Robot sensing systems; Robustness; Rotation measurement; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680907
Filename
680907
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