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Art der Veröffentlichung: Artikel in Konferenzband
Autor: Axel Lankenau, Thomas Röfer
Titel: Mobile Robot Self-Localization in Large-Scale Environments
Buch / Sammlungs-Titel: Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA-2002)
Seite(n): 1359 – 1364
Erscheinungsjahr: 2002
Verleger: IEEE
Abstract / Kurzbeschreibung: This paper presents a new approach for the absolute self-localization of a mobile robot in structured large-scale environments. The requirements with regard to both, the necessary a-priori knowledge as well as the sensor equipment, are low. The algorithm scales up very well, due to a hybrid representation of the environment that augments a topological map with metric information. As a consequence, the method is especially suited for usage in large-scale service robotics applications. As an example for a future application, the so-called Navigation Assistant of the Bremen Autonomous Wheelchair "Rolland" is discussed. The self-localization results presented below stem from experiments with the wheelchair on a 2,176m long indoor and outdoor parcours on the campus of the Universität Bremen.
PDF Version: http://www.informatik.uni-bremen.de/kogrob/papers/icra02.pdf
Schlagworte: navigation localization mobile robots service robots nonholonomic robots
Status: Reviewed
Letzte Aktualisierung: 06. 11. 2013

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