Naslov
Histogram Based Mobile Robot Localization

Autori
Banjanović-Mehmedović, Lejla ; Ivanjko, Edouard ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 14th International Electrotechnical and Computer Science Conference ERK 2005 / - Ljubljana, 2005

Skup
14th International Electrotechnical and Computer Science Conference ERK 2005

Mjesto i datum
Portorož, Slovenija, 26.09.2005. - 28.09.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robots; localization; histograms

Sažetak
Global localization refers to the problem of determining the pose of a mobile robot under global uncertainty. One solution to this problem is the usage of histograms as part of a topological map. The algorithm introduced here is based on the interacting multiple model and exploits a soft gating of the problem to reduce the computational requirements of presented approach. This localization algorithm consists of a position estimation and orientation estimation part. The position part is based on a xy histogram scan matching procedure, where xy histograms are extracted directly from local occupancy grid maps. The orientation part is based on the proposed obstacle vector transform combined with polar histograms. Introduced algorithm is tested using a Pioneer 2DX mobile robot simulator.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA