Landmark perception planning for mobile robot localization

Abstract

IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998 ; This paper presents a fuzzy perception planner that takes into account the time cost, the suitability of every landmark detection and the different uncertainties the robot encounters along its path for mobile robot localization. The sensor used is a camera with a motorized zoom on a pan & tilt platform and the artificial landmarks are circles detected through normalized grayscale correlation. An Extended Kalman Filter is used to correct the position and orientation of the vehicle. The resulting self-localization module has been integrated successfully in a more complicated navigation system. ; The authors gratefully acknowledge the funds provided by the Spanish Government through the CICYT projects TAP94-711 and TAP96-657, and thank B.J. Carabao and M.J. Lopez for their experimental work with the planner using the B2 1 robot. ; Publicado