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Global localization using odometry

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1 Author(s)
O'Kane, J. ; Dept. of Comput. Sci., Illinois Univ., Urbana, IL

This paper presents a global localization technique for a robot with only linear and angular odometers. The robot, whose configuration is composed of its position and orientation, moves in a fully-known environment by alternating rotations and forward translations. We pose the problem as a discrete-time planning problem in the robot's information space, which encapsulates the uncertainty in the robot's configuration. Our contribution is to show that in any simply-connected, bounded polygonal environment, localization by odometry alone is possible, but only up to the symmetries in the environment

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006