Name
Abstract | ||
|---|---|---|
The intelligent application of a mobile robot, out- side the experimental laboratory, requires a robust locomotive strategy that is rarely conducive to stringent kinematic modeling. Localisation methods that rely upon such modeling often fail, as model boundaries succumb to unpredictable events. This paper presents the development of a self-contained localisation system that purposely obviates the need for odometric information, and an associated kinematic model, to provide robot anonymity. Without odometry, the system is oblivious to the non-systematic vagaries of the robotic platform interacting with a natural domain. The proposed system hypothesises about the robot's absolute pose by algorithmically solving the kidnapped robot problem using exteroceptive based perception. Since no a priori information is assumed, long-term pose fixes are derived within a simultaneous localisation and mapping (SLAM) framework. Preliminary results were gathered using a skid steering mobile robot, equipped with a scanning laser rangefinder, in an outdoor environment. This novel localisation approach was found to be efficient and robust, while exhibiting the capacity for widespread applicability. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/RAMECH.2004.1438024 | Robotics, Automation and Mechatronics, 2004 IEEE Conference |
Keywords | Field | DocType |
intelligent robots,laser ranging,mobile robots,path planning,position control,robot kinematics,exteroceptive based localisation,exteroceptive based perception,intelligent mobile robot,kidnapped robot problem,kinematic model,outdoor environment,robot anonymity,robust locomotive strategy,scanning laser rangefinder,self-contained localisation system,simultaneous localisation and mapping,skid steering mobile robot | Social robot,Robot control,Computer vision,Robot calibration,Robot kinematics,Odometry,Control engineering,Artificial intelligence,Mobile robot navigation,Engineering,Kidnapped robot problem,Mobile robot | Conference |
Volume | ISBN | Citations |
2 | 0-7803-8645-0 | 1 |
PageRank | References | Authors |
0.39 | 8 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dorian Spero | 1 | 1 | 0.39 |
| Ray Jarvis | 2 | 56 | 10.32 |