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This paper presents a localisation procedure for a mobile robot operating in a structured environment whose map is totally or partially known a priori. The proposed approach is based on the recognition of natural landmarks identified through laser range data.
With a rough estimate of the robot's position and orientation and the knowledge of an priori map, the proposed technique chooses two vertical edges toward which, and using correctly chosen scanning parameters, a laser scan is directed. The post-processing of the so acquired range profile results in an updated estimate of the robot's location. The paper describes the different steps of the localisation technique, derives a criterion for the optimal choice of the pair of vertical edges, discusses relevant experimental results and presents directions for further research.

Additional information

Authors: RIBEIRO M I, Instituto Superior Técnico, Lisboa (PT);GONCALVES J G M, JRC Ispra (IT)
Bibliographic Reference: Paper presented: EUROBOT'96, Kaiserslautern (DE) October 9-11, 1996
Availability: Available from (1) as Paper EN 40091 ORA
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