Mobile robot localization using landmarks

被引：279

作者：

Betke, M ^{[1
]}

Gurvits, L

机构：

[1] MIT, COMP SCI LAB, CAMBRIDGE, MA 02139 USA

[2] NEC RES INST, PRINCETON, NJ 08540 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1997年 / 13卷 / 02期

基金：

美国国家科学基金会;

关键词：

landmark navigation; map algorithms; mobile robot localization; robotics; triangulation;

D O I：

10.1109/70.563647

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 landmarks by complex numbers. The algorithm runs in time linear in the number of landmarks. We present results of simulations and propose how to use our method for robot navigation.

引用

页码：251 / 263

页数：13

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