DocumentCode
339616
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
Volume
2
fYear
1999
fDate
1999
Firstpage
1650
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772596
Filename
772596
Link To Document