Mobile robot self-localization without explicit landmarks

DOI10.1007/S004539910023MaRDI QIDQ1974471zbMATH OpenOpenAlexFDO

Authors R. G. Brown, Bruce Randall Donald

Publication date 7 May 2000

Published in Algorithmica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s004539910023

zbMATH Keywords

combinatorial algorithmcomplexity analysisgeometric model of the worldlocalizationmobile robot navigationpoint-and-shoot ranging devicesensor uncertainty

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

Review text

In mobile robot navigation, ``localization is the process of estimating the location of the robot within its environment. For the localization aspect of navigation, an exact combinatorial algorithm with complexity analysis is suggested. The method is based on a geometric model of the world and a point-and-shoot ranging device. Moreover, a rasterized version of the algorithm is given for execution upon a mobile robot, where sensor uncertainty can be taken into account. Some experimental results are given.

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