Simultaneous localization and map building for mobile robot navigation

G. C. Anousaki; K. J. Kyriakopoulos

doi:10.1109/100.793699

Simultaneous localization and map building for mobile robot navigation

G. C. Anousaki, K. J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

A reliable scheme that deals with the map-building and the localization issues simultaneously is presented. The world-model estimate is fed to the localization algorithm, which in turn provides a corrected position and orientation estimate that is subsequently fed to the map-building algorithm to provide an updated world model. The perceived local world model along with dead-reckoning and ultrasonic sensor data are combined using an extended Kalman filter in a localization scheme to estimate the current position and orientation of the mobile robot. Implementation issues and experimental results from the experience with a Nomad 150 mobile robot in a real world indoor environment are presented.

Original language	English (US)
Pages (from-to)	42-53
Number of pages	12
Journal	IEEE Robotics and Automation Magazine
Volume	6
Issue number	3
DOIs	https://doi.org/10.1109/100.793699
State	Published - Sep 1999

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/100.793699

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Simultaneous localization and map building for mobile robot navigation

Abstract

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