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Proceedings Paper

Robust self-localization of mobile robots based on Kalman filter in dynamically changing environment
Author(s): Yukihiko Ono; Takayuki Takahashi
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Paper Abstract

A mobile robot can identify its own position relative to landmarks, the locations of which are known in advance. The main contribution of this research is that it gives various ways of making the self-localizing error smaller by referring to a sensitivity which is defined as the ratio of the localizing error to sensor error. In this paper, the authors propose the index to evaluate the accuracy of the self-localizing methods. And then, a rational way to minimize the localizing error is proposed. Finally, we discuss a method to reduce the computational cost of selecting the best self-localizing method.

Paper Details

Date Published: 20 February 2006
PDF: 6 pages
Proc. SPIE 6041, ICMIT 2005: Information Systems and Signal Processing, 604134 (20 February 2006); doi: 10.1117/12.664496
Show Author Affiliations
Yukihiko Ono, Tohoku Univ. (Japan)
Takayuki Takahashi, Fukushima Univ. (Japan)

Published in SPIE Proceedings Vol. 6041:
ICMIT 2005: Information Systems and Signal Processing
Yunlong Wei; Kil To Chong; Takayuki Takahashi, Editor(s)

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