Conference Proceeding

Comparison of robot localization methods using distributed and onboard laser range finders

Inst. of Ind. Sci., Tokyo Univ., Tokyo
08/2008; DOI:10.1109/AIM.2008.4601753 ISBN: 978-1-4244-2494-8 pp.746 - 751 In proceeding of: Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Source: IEEE Xplore

ABSTRACT In this paper we discuss methods for estimating the position of objects in environments that have both distributed sensing devices as well as mobile robots equipped with sensors - intelligent spaces. The aim is to use both types of devices for the estimation. We focus on the utilization of laser range finder devices as sensors, due to their good sensing characteristics. Our main interest here is in the localization of mobile robots and we consider two estimation methods. One is based on a heuristic determination of the center of the tracked object and utilizes a Kalman filter based estimation approach. The other method is based on geometric models of both the environment and the robot, and the position is estimated using a particle filter. The methods are described and experimental results are shown, and their comparison is given.

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Keywords

center
 
characteristics
 
devices
 
environments
 
estimation
 
estimation approach
 
estimation methods
 
experimental results
 
geometric models
 
heuristic determination
 
intelligent spaces
 
Kalman filter
 
laser range finder devices
 
main interest
 
mobile robots
 
objects
 
robot
 

D. Brscic