Mobile Robot Localization using Local Occupancy Grid Maps Transformations (CROSBI ID 518505)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Banjanović-Mehmedović, Lejla ; Petrović, Ivan ; Ivanjko, Edouard
engleski
Mobile Robot Localization using Local Occupancy Grid Maps Transformations
Mobile robot localization is the problem of determining the pose (position and orientation) of a mobile robot under complex measurement uncertainties. The algorithm introduced here is based on the modified multiple model and exploits a soft gating of the measurements to reduce the computational requirements of the approach. The position part is based on an x and y histograms scan matching procedure, where x and y histograms are extracted directly from local occupancy grid maps using probability scalar transformation. The orientation part is based on the proposed obstacle vector transformation combined with polar histograms. Proposed algorithms are tested using a Pioneer 2DX mobile robot.
mobile robot localization ; histogram based scans matching ; soft gating
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Podaci o prilogu
1307-1312.
2006.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of 12th International Power Electronics and Motion Control Conference, EPE-PEMC 2006
Podaci o skupu
12th International Power Electronics and Motion Control Conference, EPE-PEMC 2006
poster
30.08.2006-01.09.2006
Portorož, Slovenija