Topological localization with kidnap recovery using sonar grid map matching in a home environment
| Autor: | Minyong Choi, Wan Kyun Chung, Jinwoo Choi |
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| Rok vydání: | 2012 |
| Předmět: |
Matching (statistics)
Home environment Computer science business.industry General Mathematics Node (networking) Topology Tracking (particle physics) Sonar Industrial and Manufacturing Engineering Computer Science Applications Control and Systems Engineering Multiple hypothesis tracking Grid reference Robot Computer vision Artificial intelligence business Software |
| Zdroj: | Robotics and Computer-Integrated Manufacturing. 28:366-374 |
| ISSN: | 0736-5845 |
| DOI: | 10.1016/j.rcim.2011.10.008 |
| Popis: | This paper presents a method of topological localization with kidnap recovery capability in a home environment using only low-cost sonar sensors. The proposed method considers both pose tracking and relocation problems. The pose tracking is achieved by calculating node probability using grid-map matching and relative motion model. The relocation method detects the kidnap automatically and recovers it using multiple hypothesis tracking. After kidnap recovery, it also provides a criterion for selecting a reasonable hypothesis for returning to the pose tracking stage autonomously. Experimental results in a real home environment verify that the proposed localization method provides a reliable and convergent node probability when the robot is kidnapped. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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