Title :
Localization by Voronoi diagrams correlation
Author :
Blanco, D. ; Boada, B.L. ; Moreno, L.
Author_Institution :
Syst. Eng. & Autom. Div., Carlos III Univ., Madrid, Spain
Abstract :
Sensor-based localization is one of the fundamental problems in mobile robots. We present a technique for online robot localization in an a priori known indoor environment. Our approach uses the local Voronoi diagram, generated from a laser range scan, to match it against the global Voronoi diagram of the robot´s workspace. The result from this process is used to estimate the robot´s position in the map or to correct the robot´s odometry. Experiments with real data are presented to validate this algorithm.
Keywords :
computational geometry; distance measurement; mobile robots; optical scanners; path planning; Voronoi diagrams correlation; global Voronoi diagram; laser range scan; local Voronoi diagram; mobile robots; odometry; online robot localization; path planning; robot workspace; Error correction; Indoor environments; Manipulators; Mobile robots; Path planning; Robot kinematics; Robot localization; Robot sensing systems; Systems engineering and theory; Vehicles;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933279