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Mobile Robot Localization using Local Occupancy Grid Maps Transformations
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| Author(s) |
Lejla Banjanovic-Mehmedovic, Ivan Petrovic, Edouard Ivanjko |
| Abstract |
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. |
| Download |
| Filename: | T7-408.pdf |
| Filesize: | 367.4 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-08 by System |
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