engleski

Proposal of Hypotheses Association for Mobile Robot Localization

Global localization is the problem of determining the position of a mobile robot under global uncertainty. The algorithm introduced here is based on the multiple model (MM) and exploits a soft gating of the problem (SG) to reduce the computational requirements of the approach. This localization algorithm is based on combining histograms and Hough transform. Presented algorithm is tested using a Pioneer 2 DX mobile robot simulator.

histogram based scans matching ; Hough transform ; multiple model (MM) ; mobile robot localization ; Multiple-Hypothesis Tracking ; particle filter ; soft gating

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