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A solution for integrating map building and self localization strategies in mobile robotics

2005; Wiley; Volume: 20; Issue: 5 Linguagem: Inglês

10.1002/int.20078

1098-111X

Antoni Burguera, Yolanda González-Cid, Gabriel Oliver,

Modular Robots and Swarm Intelligence

International Journal of Intelligent SystemsVolume 20, Issue 5 p. 499-521 Research Article A solution for integrating map building and self localization strategies in mobile robotics Antoni Burguera, Antoni Burguera [email protected] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km. 7,5, 07071 Palma de Mallorca, SpainSearch for more papers by this authorYolanda González, Yolanda González [email protected] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km. 7,5, 07071 Palma de Mallorca, SpainSearch for more papers by this authorGabriel Oliver, Gabriel Oliver [email protected] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km. 7,5, 07071 Palma de Mallorca, SpainSearch for more papers by this author Antoni Burguera, Antoni Burguera [email protected] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km. 7,5, 07071 Palma de Mallorca, SpainSearch for more papers by this authorYolanda González, Yolanda González [email protected] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km. 7,5, 07071 Palma de Mallorca, SpainSearch for more papers by this authorGabriel Oliver, Gabriel Oliver [email protected] Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Carretera de Valldemossa Km. 7,5, 07071 Palma de Mallorca, SpainSearch for more papers by this author First published: 23 March 2005 https://doi.org/10.1002/int.20078Citations: 8AboutPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL Share a linkShare onFacebookTwitterLinkedInRedditWechat Abstract For a mobile robot to execute useful missions it has to be endowed with navigation ability. To navigate successfully, information about the environment and the robot position is needed. This article presents a robust system for detecting, identifying, analyzing, and comparing environmental landmarks obtained from standard range sensors and using them to generate and incrementally improve a hybrid topological-metric map of the environment. This map is used in turn to correct the estimation of the robot position. The control architecture that integrates this mapping and localization system is described, as well as the experimental results obtained on both a simulated robot and a real one. © 2005 Wiley Periodicals, Inc. Int J Int Syst 20: 499–521, 2005. Citing Literature Volume20, Issue5Special Issue: Robotics and Computer VisionMay 2005Pages 499-521 RelatedInformation