MOBILE ROBOT LOCALIZATION USING LANDMARKS

Authors
BETKE M GURVITS L
Citation
M. Betke et L. Gurvits, MOBILE ROBOT LOCALIZATION USING LANDMARKS, IEEE transactions on robotics and automation, 13(2), 1997, pp. 251-263
Citations number
33
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
13
Issue
2
Year of publication
1997
Pages
251 - 263
Database
ISI
SICI code
1042-296X(1997)13:2<251:MRLUL>2.0.ZU;2-T
Abstract
We describe an efficient method for localizing a mobile robot in an en vironment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given suc h noisy input, the algorithm estimates the robot's position and orient ation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmarks by complex number s. The algorithm runs in time linear in the number of landmarks. We pr esent results of simulations and propose how to use our method for rob ot navigation.