Localization of mobile robots by multiple landmark recognition

被引：0

作者：

Ozawa, Ryohei ^{[1
]}

Mae, Yasushi ^{[2
]}

Minami, Mamoru ^{[1
]}

机构：

[1] Univ Fukui, Grad Sch Engn, Fukui 910, Japan

[2] Osaka Univ, Grad Sch Engn Sci, Osaka, Japan

来源：

PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 | 2007年

关键词：

localization; resource allocation; visual attention; gazing-GA;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper proposes a method for localization of mobile robots by multiple landmark recognition. Landmarks are recognized in real time by Model-based matching method using Genetic Algorithms (GA). A mobile robot measures directions of landmarks while moving. Target landmarks are changed depending on the situation of the robot. The individuals of GA are allocated for recognizing multiple landmarks efficiently depending on the situation. The robot estimates its position by the directions of the two landmarks and its moving distance. We perform experiments using a mobile robot in a RoboCup soccer field. In the experiment, goalposts and corner posts are used as landmarks. Experimental results show the effectiveness of the method.

引用

页码：1524 / +

页数：2

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