Reliable and efficient landmark-based localization for mobile robots |
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| Authors: | I Loevsky I Shimshoni |
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| Affiliation: | 1. Faculty of Industrial Engineering and Management, Technion, Haifa 32000, Israel;2. Department of Management Information Systems, University of Haifa, Haifa 31905, Israel;1. College of Computer Science and Technology, Key Laboratory of Symbolic Computing and Knowledge Engineering of Ministry of Education, Jilin University, 130012 Changchun, China;2. Department of Computer Information Systems, Bryant University, Smithfield, RI 02917-1284, USA;1. School of Engineering and Physics, The University of the South Pacific, Suva, Fiji;2. School of Engineering and Computer Science, Victoria University of Wellington, New Zealand;1. Robotics and Intelligent Machines Laboratory, Department of Information Engineering, University of Parma, 43124, Italy;2. Elettric80 S.p.A. 42030 Viano (RE), Italy;1. VA Medical Center, Minneapolis, Minnesota;2. Department of Pulmonary, Allergy, Critical Care and Sleep Medicine, University of Minnesota, Minneapolis, Minnesota |
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| Abstract: | This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel. |
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