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Authors: Patrice Boucher ; Sousso Kelouwani and Paul Cohen

Affiliation: Ecole Polytechnique de Montreal, Canada

ISBN: 978-989-674-000-9

Keyword(s): Navigation, Localization, Dynamic environments, Point-based model, Extended Kalman Filter, 2D Point matching, Registration, Robotic platform slipping, Homogeneous matrices.

Related Ontology Subjects/Areas/Topics: Evolutionary Computation and Control ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Real-Time Systems Control ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: Localization methods for mobile platforms are commonly based on an observation model that matches onboard sensors measures and environmental a priori knowledge. However, their effectiveness relies on the reliability of the observation model, which is usually very sensitive to the presence of unmodelled elements in the environment. Mismatches between the navigation map, itself an imperfect representation of the environment, and actual robot's observations introduce errors that can seriously affect positioning. This article proposes a 2D point-based model for range measurements that works with a new method for 2D point matching and registration. The extended Kalman filter is used in the localization process since it is of the most efficient tool for tracking a robotic platform's configuration in real time. The method minimizes the impact of measurement noise, mismodelling and skidding on the matching procedure and allows the extended Kalman filter observation model to be robust against skidding and unmodelled obstacles. Its O(n . m) complexity enables real-time optimal points matching. Simulation and experiments demonstrate the effectiveness and robustness of the proposed algorithm in dynamic and partially unknown environments. (More)

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Paper citation in several formats:
Boucher P.; Kelouwani S.; Cohen P. and (2009). MOBILE PLATFORM SELF-LOCALIZATION IN PARTIALLY UNKNOWN DYNAMIC ENVIRONMENTS.In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 113-120. DOI: 10.5220/0002162001130120

@conference{icinco09,
author={Patrice Boucher and Sousso Kelouwani and Paul Cohen},
title={MOBILE PLATFORM SELF-LOCALIZATION IN PARTIALLY UNKNOWN DYNAMIC ENVIRONMENTS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={113-120},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002162001130120},
isbn={978-989-674-000-9},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - MOBILE PLATFORM SELF-LOCALIZATION IN PARTIALLY UNKNOWN DYNAMIC ENVIRONMENTS
SN - 978-989-674-000-9
AU - Boucher, P.
AU - Kelouwani, S.
AU - Cohen, P.
PY - 2009
SP - 113
EP - 120
DO - 10.5220/0002162001130120

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