Methods for robot localization on a map

3rd International Conference "Cognitive Robotics"

计算机科学

Shikhman, M.V.^1 ; Shidlovskiy, S.V.^1

National Research Tomsk State University, Tomsk, Russia^1

关键词: Algorithm operation;    Ground based;    Local navigation;    Localization algorithm;    Monte Carlo localization;    On-board systems;    Robot localization;    Robotic devices;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/516/1/012057/pdf
DOI  :  10.1088/1757-899X/516/1/012057

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

In many cases, to solve applied problems, the robot needs to know its real location, which is most often different from the data stored in the on-board system. For unmanned robotic devices, as well as for ground-based robots, it is most efficient to use local navigation algorithms, which consist in determining the coordinates of the device with respect to a certain starting point. The paper discusses localization algorithms provided that the map of the area is known in advance. Particular attention is paid to the Monte Carlo localization method because of several advantages. The paper presents an example of modeling the algorithm operation.