Mobile robot localization using landmarks
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 135-142
- https://doi.org/10.1109/iros.1994.407399
Abstract
We describe an efficient algorithm for localizing a mobile robot in an environment with landmarks. We assume that the robot has a camera and maybe other sensors that enable it to both identify landmarks and measure the angles subtended by these landmarks. We show how to estimate the robot's position using a new technique that involves a complex number representation of the landmarks. Our algorithm runs in time linear in the number of landmarks. We present results of our simulations and propose how to use our method for robot navigation.Keywords
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