| Publication type: |
Article in Proceedings |
| Author: |
A. Lankenau, T. Röfer, B. Krieg-Brückner |
| Editor: |
C. Freksa, W. Brauer, C. Habel, K. F. Wender |
| Title: |
Self-Localization in Large-Scale Environments for the Bremen Autonomous Wheelchair |
| Book / Collection title: |
Spatial Cognition III |
| Page(s): |
34 – 61 |
| Series: |
Lecture Notes in Artificial Intelligence |
| Number: |
2685 |
| Year published: |
2003 |
| Publisher: |
Springer |
| Abstract: |
This paper presents RouteLoc, a new approach for the absolute self-localization of mobile robots in structured large-scale environments. As experimental platform, the Bremen Autonmous Wheelchair "Rolland" is used on a 2,176m long journey across the campus of the Universität Bremen. RouteLoc poses only very low requirements with regard to sensor input, resources (memory, computing time), and a-priori knowledge. The approach is based on a hybrid topological-metric representation of the environment. It scales up very well, and is thus suitable for self-localization of service robots in large-scale environments. The evaluation of RouteLoc is done with a pure metric approach as reference method. It compares scan-matching results of laser range finder data with the position estimates of RouteLoc on a metric basis. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/sc02.pdf |
| Keywords: |
ai navigation robotics |
| Status: |
Reviewed |
| Last updated: |
05. 08. 2005 |
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