LOCALIZING IN UNSTRUCTURED ENVIRONMENTS - DEALING WITH THE ERRORS

被引:40
作者
SUTHERLAND, KT [1 ]
THOMPSON, WB [1 ]
机构
[1] UNIV UTAH, DEPT COMP SCI, SALT LAKE CITY, UT 84112 USA
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 06期
基金
美国国家科学基金会;
关键词
D O I
10.1109/70.338529
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A robot navigating in an unstructured outdoor environment must determine its own location in spite of problems due to environmental conditions, sensor limitations and map inaccuracies. Exact measurements are seldom known, and the combination of approximate measures can lead to large errors in self-localization. The conventional approach to this problem has been to deal with the errors either during processing or after they occur. We maintain that it is possible to limit the errors before they occur. We analyze how measurement errors affect errors in localization and propose that a simple algorithm can be used to exploit the geometric properties of landmarks in the environment in order to decrease errors in localization. Our goal is to choose landmarks that will provide the best localization regardless of measurement error, determine the best areas in which to identify new landmarks to be used for further localization and choose paths that will provide the least chance of ''straying.'' We show the result of implementing this concept in experiments run in simulation with USGS 30 m DEM data for a robot statically locating, following a path and identifying new landmarks.
引用
收藏
页码:740 / 754
页数:15
相关论文
共 29 条
[1]  
Cohen S. C., 1993, Manuscripta Geodaetica, V18, P72
[2]  
COLLETT TS, 1992, J COMP PHYSIOL A, V170, P435
[3]  
Duerr T. E., 1992, Navigation. Journal of the Institute of Navigation, V39, P317
[4]  
Gallistel C. R., 1990, ORG LEARNING
[5]   COMPUTATIONAL METHODS FOR TASK-DIRECTED SENSOR DATA FUSION AND SENSOR PLANNING [J].
HAGER, G ;
MINTZ, M .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (04) :285-313
[6]  
HOFFMAN R, 1993, MAY P IEEE INT C ROB
[7]   FAST VISION-GUIDED MOBILE ROBOT NAVIGATION USING MODEL-BASED REASONING AND PREDICTION OF UNCERTAINTIES [J].
KOSAKA, A ;
KAK, AC .
CVGIP-IMAGE UNDERSTANDING, 1992, 56 (03) :271-329
[8]  
KROTKOV E, 1989, IEEE T ROBOTIC AUTOM, P978
[9]  
Kuipers B., 1978, COGNITIVE SCI, V2, P129, DOI [10.1016/S0364-0213(78)80003-2, DOI 10.1207/S15516709COG0202_3]
[10]  
KUIPERS BJ, 1988, AI MAG, V9, P25