Title :
Mobile robot localization using landmarks
Author :
Betke, Margrit ; Gurvits, Leonid
Author_Institution :
Lab. for Comput. Sci., MIT, Cambridge, MA, USA
Abstract :
We describe an efficient algorithm for localizing a mobile robot in an environment with landmarks. We assume that the robot has a camera and maybe other sensors that enable it to both identify landmarks and measure the angles subtended by these landmarks. We show how to estimate the robot´s position using a new technique that involves a complex number representation of the landmarks. Our algorithm runs in time linear in the number of landmarks. We present results of our simulations and propose how to use our method for robot navigation
Keywords :
mobile robots; position measurement; robot vision; camera; complex number representation; landmarks; mobile robot localization; position estimation; robot navigation; Autonomous agents; Cameras; Computer science; Goniometers; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems; Strips;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407399
