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题名: Development of laser global location system for autonomous mobile robot
作者: Cui MY(崔茂源) ; Dong ZL(董再励) ; Tian YT(田彦涛) ; Hong W(洪伟)
作者部门: 机器人学研究室
会议名称: 5th International Conference on Electronic Measurement and Instruments
会议日期: November 18-21, 2001
会议地点: GUILIN, China
会议主办者: Chinese Inst Electr, Chinese Instrumentat Soc, IEEE Beijing Sect, Electr Measurement & Instrument Soc
会议录: ICEMI'2001: FIFTH INTERNATIONAL CONFERENCE ON ELECTRONIC MEASUREMENT AND INSTRUMENTS, VOL 1, CONFERENCE PROCEEDINGS
会议录出版者: CHINESE INSTITUTE ELECTRONICS
会议录出版地: HARBIN
出版日期: 2001
页码: 377-380
收录类别: CPCI(ISTP)
摘要: One of challenges facing navigation of an autonomous mobile robot and need to be addressed is global location. This paper describes a new laser global location system (LGLS) for mobile robot which we developed. In this implementation there is one rotating laser beam on board the robot and more than three retroreflectors used as landmarks are placed at known locations in the environment. The relative position of visible landmarks can be derived from matching bearings of the landmarks measured with a map of known landmarks, then a new iterative search location algorithm using least squares procedure is proposed. We demonstrate how LGLS using the algorithm can decrease errors, and compare its performance to that of using odometry.
语种: 英语
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8668
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
崔茂源; 董再励; 田彦涛; 洪伟.Development of laser global location system for autonomous mobile robot.见:CHINESE INSTITUTE ELECTRONICS.ICEMI'2001: FIFTH INTERNATIONAL CONFERENCE ON ELECTRONIC MEASUREMENT AND INSTRUMENTS, VOL 1, CONFERENCE PROCEEDINGS,HARBIN,2001,377-380
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