Title :
Real time position estimation for mobile robots by means of sonar sensors
Author :
Urdiales, C. ; Bandera, A. ; Ron, R. ; Sandoval, F.
Author_Institution :
Dept. de Technol. Electron., Malaga Univ., Spain
Abstract :
Presents a fast localisation algorithm for autonomous mobile agents in dynamic environments based on the definition of a very small sized landmark type. These landmarks are calculated by obtaining the coordinates of the circular depth function obtained from a ring of equally spaced sonar sensors projected on a bi-dimensional base of a vectorial space. Finally, a pyramidal structure is used to enhance and fasten the performance of the localisation algorithm
Keywords :
fast Fourier transforms; mobile robots; path planning; position measurement; sonar; autonomous mobile agents; bi-dimensional base; circular depth function; dynamic environments; fast localisation algorithm; landmarks; pyramidal structure; real time position estimation; sonar sensors; vectorial space; Algorithm design and analysis; Dead reckoning; Mobile agents; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Sonar detection; Sonar measurements; Telecommunications;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772596
