Title :
Terrain feature localization for mobile robots in outdoor environments
Author :
Zhu, Xiaorui ; Minor, Mark A.
Author_Institution :
Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA
Abstract :
A novel terrain feature localization technique is proposed in this paper to allow the robot to identify its location relative to measurable terrain characteristics. In the example of a two-axle wheeled mobile robot, a terrain inclination map is extracted from a given topographical map along a specific path. An EKF is used to fuse the measurement data with the robot motion based on the extracted terrain map. Simulations validate the proposed terrain localization technique.
Keywords :
Kalman filters; mobile robots; motion control; nonlinear filters; terrain mapping; extended Kalman filter; terrain feature localization technique; terrain inclination map; topographical map along; two-axle wheeled mobile robot; Data mining; Fuses; Global Positioning System; Mobile robots; Motion control; Robot sensing systems; Robotics and automation; Rough surfaces; Sensor phenomena and characterization; Sonar; Localization; Mobile robot; Terrain factors;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5205077
