Title :
Localization of mobile robots by multiple landmark recognition
Author :
Ozawa, Ryohei ; Mae, Yasushi ; Minami, Mamoru
Author_Institution :
Univ. of Fukui, Fukui
Abstract :
The paper proposes a method for localization of mobile robots by multiple landmark recognition landmarks are recognized in real time by model-based matching method using genetic algorithms (GA). A mobile robot measures directions of landmarks while moving. Target landmarks are changed depending on the situation of the robot. The individuals of GA are allocated for recognizing multiple landmarks efficiently depending on the situation. The robot estimates its position by the directions of the two landmarks and its moving distance. We perform experiments using a mobile robot in a RoboCup soccer field. In the experiment, goalposts and corner posts are used as landmarks. Experimental results show the effectiveness of the method.
Keywords :
genetic algorithms; image matching; mobile robots; multi-robot systems; RoboCup; genetic algorithms; mobile robots; model-based matching; multiple landmark recognition; Cognitive robotics; Computer vision; Genetic algorithms; Humans; Layout; Mobile robots; Object recognition; Resource management; Robot vision systems; Service robots; Gazing-GA; Localization; Resource Allocation; Visual Attention;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421225
