Self-Localization in Dynamic Environments
IEEE/SOFT International Workshop BIES'95 May 30 - 31, 1995, Tokyo, Japan
Uwe R. Zimmer - contact author
Self-localization in unknown environments respectively correlation of
current and former impressions of the world is an essential ability for
most mobile robots. The method, proposed in this article is the
construction of a qualitative, topological world model as a basis for
self-localization. As a central aspect the reliability regarding
error-tolerance and stability will be emphasized. The proposed techniques
demand very low constraints for the kind and quality of the employed
sensors as well as for the kinematic precision of the utilized mobile
platform. Hard real-time constraints can be handled due to the low
computational complexity.
The principal discussions are supported by real-world experiments with
the mobile robot "ALICE".
keywords: artificial neural networks, mobile robots, self-localization,
self-organization, world-modelling
Paper (ps.gz)
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