Thumbnail
Access Restriction
Open

Author Tomatis, Nicola ♦ Nourbakhsh, Illah ♦ Arras, Kai
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Topological Approach ♦ Autonomous Robot Donald Duck ♦ Metric Localization ♦ Success Ratio ♦ Overall Trajectory Length ♦ Main Idea ♦ Goal Point ♦ Institute Building ♦ Global Topological Map ♦ Topological Paradigm ♦ Hybrid Approach ♦ Global Metric Consistency ♦ Compact Environment Modeling ♦ Degree Laser Scanner ♦ Compact Environment Model ♦ Local Metric Map ♦ Precise Mobile Robot Navigation ♦ New Localization Approach ♦ Mean Error ♦ Test Mission ♦ Future Work
Description In this paper a new localization approach combining the metric and topological paradigm is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract lines for the metric localization and doors, discontinuities and hallways for the topological approach. The approach has been widely tested in a 50 x 25 m portion of the institute building with the new fully autonomous robot Donald Duck. 25 randomly generated test missions have been performed with a success ratio of 96 % and a mean error at the goal point of 9 mm for an overall trajectory length of 1.15 km. Future work will focus on a
IEEE International Conference on Robotics and Automation, Seoul, Korea
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2001-01-01