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Proceedings Paper

Single Landmark Navigation By Mobile Robots
Author(s): Michael P. Case
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Paper Abstract

Mobile robots may use naturally occurring or man-made landmarks to navigate over different types of terrain. Many navigational techniques require the simultaneous detection of two or more landmarks in order to update deduced reckoning position estimates, requiring a high density of identifiable reference points. Analytical methods and formulae are presented which permit navigation using a single landmark, given sensorderived azimuth angle, elevation angle, or range information. Experimental results using an infrared beacon are discussed, together with predictions of required sensor resolution for a specified positional error range. The results indicate that the need for identifiable landmarks may be greatly reduced, while the use of local reference frames could facilitate symbolic processing of path data.

Paper Details

Date Published: 25 February 1987
PDF: 9 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937801
Show Author Affiliations
Michael P. Case, U.S. Army Construction Engineering Research Laboratory (United States)


Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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