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Mobile robot localization by tracking geometric beacons

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2 Author(s)
Leonard, J.J. ; Dept. of Eng. Sci., Oxford Univ., UK ; Durrant-Whyte, H.F.

The application of the extended Kaman filter to the problem of mobile robot navigation in a known environment is presented. An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed. The algorithm is based on an extended Kalman filter that utilizes matches between observed geometric beacons and an a priori map of beacon locations. Two implementations of this navigation algorithm, both of which use sonar, are described. The first implementation uses a simple vehicle with point kinematics equipped with a single rotating sonar. The second implementation uses a `Robuter' mobile robot and six static sonar transducers to provide localization information while the vehicle moves at typical speeds of 30 cm/s

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Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 3 )