publication . Other literature type . Article . 1991

Mobile robot localization by tracking geometric beacons

J.J. Leonard; H.F. Durrant-Whyte;
  • Published: 01 Jun 1991
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
The application of the extended Kaman filter to the problem of mobile robot navigation in a known environment is presented. An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed. The algorithm is based on an extended Kalman filter that utilizes matches between observed geometric beacons and an a priori map of beacon locations. Two implementations of this navigation algorithm, both of which use sonar, are described. The first i...
Subjects
ACM Computing Classification System: ComputerApplications_COMPUTERSINOTHERSYSTEMS
free text keywords: Artificial intelligence, business.industry, business, Mobile robot, Extended Kalman filter, Sonar, Control engineering, Kalman filter, Computer vision, Robotics, Mathematics, Beacon, Mobile robot navigation, Monte Carlo localization
Related Organizations
Powered by OpenAIRE Open Research Graph
Any information missing or wrong?Report an Issue
publication . Other literature type . Article . 1991

Mobile robot localization by tracking geometric beacons

J.J. Leonard; H.F. Durrant-Whyte;