Mobile Robot Localization from Landmark Bearings
نویسنده
چکیده
Mobile robots need their position in the workspace. A standard GPS will allow an absolute positioning of the robot in the field, but the position accuracy is not enough to perform unmanned field task. This paper proposes a system for robot localization based on landmark bearings measured by the robot. Since the equipment setup is very simple our proposed technique would be useful for real-world robotic applications such as lawnmowers. Some results are presented to show the performance of the proposed technique.
منابع مشابه
On Mobile Robot Localization From Landmark Bearings
This paper deals with the problem of robot localization from noisy landmark bearings measured by the robot. We present a new localization method which is based on linear constraints, one due to each bearing measurement. This linear system can be solved at low computational cost but yields not very accurate results. Therefore, we transform the system to an equivalent linear system which yields v...
متن کاملOn Mobile Robot Localization from Landmark Bearings
The paper deals with the problem of robot localiza-tion from noisy landmark bearings measured by the robot. We present a new localization method which is based on linear constraints, one due to each bearing measurement. This linear system can be solved at low computational cost but yields not very accurate results. We therefore transform the system to an equivalent linear system which yields vi...
متن کاملUncertainty Analysis of a Landmark Initialization Method for Simultaneous Localization and Mapping
To operate successfully in any environment, mobile robots must be able to localize themselves accurately. In this paper, we describe a method to perform Simultaneous Localization and Mapping (SLAM) requiring only landmark bearing measurements taken along a linear trajectory. We solve the landmark initialization problem with only the assumption that the vision sensor of the robot can identify th...
متن کاملMobile Robot Localization Using Landmarks - Robotics and Automation, IEEE Transactions on
We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot’s position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the land...
متن کاملEffects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2009