E-Book Overview
We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot's position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmarks by complex numbers. The algorithm runs in time linear in the number of landmarks. We present results of simulations and propose how to use our method for robot navigation.
E-Book Content
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 13, NO. 2, APRIL 1997
251
Mobile Robot Localization Using Landmarks Margrit Betke and Leonid Gurvits
Abstract— We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot’s position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmarks by complex numbers. The algorithm runs in time linear in the number of landmarks. We present results of simulations and propose how to use our method for robot navigation. Index Terms— Landmark navigation, map algorithms, mobile robot localization, robotics, triangulation.
I. INTRODUCTION
W
E DESCRIBE AN efficient algorithm for localizing a mobile robot in an environment with landmarks. The robot has sensors that both identify landmarks and measure their bearings relative to each other. Such sensor information is generally uncertain and contains noise. Given the positions of possibly misidentified landmarks on a 2-D map of the environment and noisy measurements of their bearings relative