Title :
Complexity study of guaranteed state estimation applied to robot localization
Author :
Seignez, Emmanuel ; Lambert, Alain
Author_Institution :
Ecole Super. d´´Ing. en Electron. et Electrotech., Amiens
Abstract :
The estimation of a vehicle configuration in its environment is mostly solved by Bayesian methods. Interval analysis allows an alternative approach: bounded-error localization. Such an approach provides a bounded set of configuration that is guaranteed to surround the actual vehicle configuration. This method is validated in real time through experimental results on a mobile robot in an indoor environment.
Keywords :
Bayes methods; mobile robots; state estimation; Bayesian methods; bounded-error localization; guaranteed state estimation; mobile robot; robot localization; Automatic control; Filtering; Indoor environments; Kalman filters; Mobile robots; Robot control; Robot localization; Robotics and automation; State estimation; Vehicles;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795552
