Naslov
Proposal of Hypotheses Association for 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 EUROCON 2005 - The International Conference on “Computer as a Tool”, Belgrade, Serbia and Montenegro, November 21-24, 2005 / Miroslav Lutovac, Aleksandar Nešković, Djordje Paunović, Dejan Popović, - Beograd : Academic Mind, Belgrade, Serbia and Montenegro, 2005, 1200-1203

Skup
EUROCON 2005 - The International Conference on “Computer as a Tool”

Mjesto i datum
Crna Gora; Beograd, Srbija, 21.11.2005. - 24.11.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA