| Publication type: |
Article in Proceedings |
| Author: |
A. Lankenau, T. Röfer |
| Title: |
Mobile Robot Self-Localization in Large-Scale Environments |
| Book / Collection title: |
Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA-2002) |
| Page(s): |
1359 – 1364 |
| Year published: |
2002 |
| Publisher: |
IEEE |
| Abstract: |
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 |
| Keywords: |
navigation localization mobile robots service robots nonholonomic robots |
| Status: |
Reviewed |
| Last updated: |
05. 08. 2005 |
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