Reliable and efficient landmark-based localization for mobile robots

被引：40
作者：
Loevsky, I. [1 ]
Shimshoni, I. [2 ]
机构：
[1] Technion Israel Inst Technol, Fac Ind Engn & Management, IL-32000 Haifa, Israel
[2] Univ Haifa, Dept Management Informat Syst, IL-31905 Haifa, Israel
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 05期
关键词：
Angle measurements; Landmarks; Robot localization; Mobile robots; AGV;
D O I：
10.1016/j.robot.2010.01.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel. (C) 2010 Elsevier B.V. All rights reserved.
引用
收藏
页码：520 / 528
页数：9
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