Abstract
This paper presents a feasible algorithm for mobile robot localization, Localization system is composed of an encoder, an electronical compass, a fixation vision system including a CCD camera and a stepping motor. Multisensor information fusion technology, extended information filter, is adopted for estimating the position and heading of robot. New measurement equation which is based on fixation vision geometric constraint is proposed in this paper. The coordinates of the landmark is not needed to know in this method, in other words, any point in the observed scene can be selected as a landmark. The results of simulation show the algorithm validity. The comparative results show this algorithm has advantage in autonomous mobile robot localization application than Dead-Reckoning.
| Original language | English |
|---|---|
| Pages (from-to) | 389-393 |
| Number of pages | 5 |
| Journal | Proceedings of SPIE - The International Society for Optical Engineering |
| Volume | 5253 |
| DOIs | |
| State | Published - 2003 |
| Event | Fifth International Symposium on Instrumentation and Control Technology - Beijing, China Duration: 24 Oct 2003 → 27 Oct 2003 |
Keywords
- Extended information filter
- Fixation vision
- Geometric constraint
- Information fusion
- Mobile Robot Localization
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