Naslov
Mobile Robot Localization using Soft-reduced Hypotheses Tracking

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

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

Izvornik
Innovations and Advanced Techniques in Computer and Information Sciences and Engineering / Sobh, Tarek - : Springer, 2007, 1-6

ISBN
978-1-4020-6268-1

Skup
2nd International Joint Conferences on Computer, Information, and Systems Sciences, and Engineering, CISSE 2006

Mjesto i datum
On-line skup, 04.12.2006. - 14.12.2006

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile Robot ; Localization ; Hypotheses Tracking

Sažetak
Mobile robot localization is the problem of determining the pose (position and orientation) of a mobile robot under complex measurement uncertainties. The Soft-reduced Hypotheses Tracking 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

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