Mobile Robot Navigation and Localization
Roadmap-based Path Planning and Visibility Sector-
based Localization
978-3-639-08848-9
3639088484
136
2008-10-29
59.00 €
eng
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Personal robotics applications require autonomous
mobile robot navigation methods that are safe and
robust. Two requirements are an automatic
motion planner to select paths and a robust way of
ensuring that the robot can follow the selected path
given the unavoidable odometer and control errors.
This book first describes a roadmap-based path
planning method that is suitable for
partially known indoor environments and requires
only inexpensive range sensors. Next, we present a
new sector-based localizer that is robust in the
presence of sensor limitations and unknown obstacles
while still maintaining computational efficiency. We
extend our approach to teams of robots focusing on
quickly sensing ranges from all robots while
avoiding sensor cross-talk, and reducing the pose
uncertainties of all robots while using a minimal
number of sensing rounds.
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