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Content Provider | IEEE Xplore Digital Library |
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Author | Yan Zhuang |
Copyright Year | 2006 |
Description | Author affiliation: Res. Center of Inf. & Control, Dalian Univ. of Technol. (Yan Zhuang) |
Abstract | Localization is an essential task for an autonomous mobile robot's indoor navigation. Based on the metric-topological environment modeling, a hybrid localization method, pose tracking in local metric map and global localization in topological map, are used in this paper to carry out accurate and robust localization in semi-structured indoor environment. In order to guarantee the effectiveness of global localization and also solve the kidnapped robot problem in dynamic environment with some unexpected collisions, a novel normalized topological node weights filter (NTNWF) algorithm is presented, which makes mobile robot's localization in large-scale topological map with closing loops and symmetric configurations available and efficient in least motion steps. Experiment results implemented in both SmartROB-2 mobile robot and the simulation software designed specially for NTNWF algorithm show the hybrid localization method's validity and practicability |
Starting Page | 9057 |
Ending Page | 9062 |
File Size | 378732 |
Page Count | 6 |
File Format | |
ISBN | 1424403324 |
DOI | 10.1109/WCICA.2006.1713752 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2006-06-21 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Mobile robots Large-scale systems Navigation Robustness Indoor environments Filters Robot localization Software design Algorithm design and analysis Software algorithms extended Kalman filter Hybrid localization metric-topological map normalized topological node weights filter |
Content Type | Text |
Resource Type | Article |
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