Dl. Boley et Kt. Sutherland, A RAPIDLY CONVERGING RECURSIVE METHOD FOR MOBILE ROBOT LOCALIZATION, The International journal of robotics research, 17(10), 1998, pp. 1027-1039
Citations number
27
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
This paper proposes a simple method for estimating the position of a r
obot from relatively few sensor readings. Our algorithms are intended
for applications where sensor readings are expensive or otherwise limi
ted, and the readings that are taken are subject to considerable error
s or noise. This method exhibits faster convergence with fewer measure
ments and greater accuracy than that exhibited by the discrete Kalman
filter in this type of application. Our approach is validated with a m
obile robot, on which a camera is used to obtain bearing information w
ith respect to landmarks in the environment.