DocumentCode :
2944568
Title :
A Robust Localization Algorithm in Topological Maps with Dynamics
Author :
Doh, N.L. ; Lee, K. ; Huh, J. ; Cho, N. ; Lee, J. ; Chung, W.K. ; Cho, Y.J.
Author_Institution :
Robotics and Bio-mechatronics Lab. POSTECH, San 31, Pohang, KOREA; nakji@postech.ac.kr
fYear :
2005
fDate :
18-22 April 2005
Firstpage :
4361
Lastpage :
4366
Abstract :
A localization algorithm for topological maps with dynamics is proposed in this paper. Especially, this algorithm considers a localization when some nodes are deleted by door closing and has two main features. First, lots of edge information are used in efficient way. Second, the algorithm calculates probability of a node to be the current location in a systematic and general way. Experiments in a topological map with dynamics are conducted to show the performance of the proposed algorithm.
Keywords :
Biomechatronics; Equations; Heuristic algorithms; Legged locomotion; Monte Carlo methods; Navigation; Probability; Robot sensing systems; Robustness; Terminology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
Type :
conf
DOI :
10.1109/ROBOT.2005.1570791
Filename :
1570791
Link To Document :
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