Model-Based Sonar Localization for Mobile Robots

Abstract : We describe a sonar localisation system for autonomous mobile robot navigation in a known environment, which tries to extract as much information as possible from the sensors by building a detailed probabilistic model of each sonar event. It takes account of multiple hypotheses about the source of each signal and uses a probabilistic sensor fusion technique to merge the results into a single location update. The system is designed to run under our decentralised, highly parallel vehicle architecture, and we discuss some of the implementation techniques required to achieve this. The results of some initial simulations are presented.
Type de document :
Article dans une revue
Robotics & Autonomous Systems, Elsevier, 1994, 12 (3-4), pp.173--186. 〈10.1016/0921-8890(94)90024-8〉
Liste complète des métadonnées

Littérature citée [23 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00548413
Contributeur : Thoth Team <>
Soumis le : lundi 20 décembre 2010 - 08:44:33
Dernière modification le : vendredi 7 janvier 2011 - 14:53:41
Document(s) archivé(s) le : lundi 21 mars 2011 - 03:02:32

Fichiers

Triggs-ras94.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Bill Triggs. Model-Based Sonar Localization for Mobile Robots. Robotics & Autonomous Systems, Elsevier, 1994, 12 (3-4), pp.173--186. 〈10.1016/0921-8890(94)90024-8〉. 〈inria-00548413〉

Partager

Métriques

Consultations de la notice

94

Téléchargements de fichiers

279