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Alternative TitleMobile Robot Localization Technique Based on Map Learning
杜振军; 曲道奎; 徐方; 贾凯
Source Publication仪器仪表学报
Indexed ByEI
EI Accession number20111113746650
Contribution Rank1
Keyword移动机器人 定位 地图学习
Other AbstractMobile robot localization in indoor environment has been the hot and difficult problem in mobile robotics, and there are no localization standards and common solutions yet. The method proposed in this paper decomposes the simultaneous localization and mapping problem in an unknown environment into two phases: map learning based on artificial landmark and localization based on learned map. This method simplifies the difficulty level for a navigation system to adapt to an unknown environment, and it is not necessary for a robot to repeatedly predict, measure and upgrades the landmark in localization phase and reduces the complexity of the algorithm. The experiment results show the effectiveness of this algorithm, in particular, when the robot happened to be "kidnapped" or unable to see the landmark for a period of time, the proposed algorithm can still keep good localization performance.
Document Type期刊论文
Affiliation1.中国科学院沈阳自动化研究所 沈阳 110016
2.沈阳新松机器人自动化股份有限公司 沈阳 110016
3.中国科学院研究生院 北京 100049
Recommended Citation
GB/T 7714
杜振军,曲道奎,徐方,等. 基于地图学习的移动机器人定位技术研究[J]. 仪器仪表学报,2010,31(S2):382-388.
APA 杜振军,曲道奎,徐方,&贾凯.(2010).基于地图学习的移动机器人定位技术研究.仪器仪表学报,31(S2),382-388.
MLA 杜振军,et al."基于地图学习的移动机器人定位技术研究".仪器仪表学报 31.S2(2010):382-388.
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