Naslov
Mobile Robot Localization using Local Occupancy Grid Maps Transformations

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

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

Izvornik
Proceedings of 12th International Power Electronics and Motion Control Conference, EPE-PEMC 2006 / - , 2006, 1307-1312

Skup
12th International Power Electronics and Motion Control Conference, EPE-PEMC 2006

Mjesto i datum
Portorož, Slovenija, 30.08.2006. - 01.09.2006

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robot localization ; histogram based scans matching ; soft gating

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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