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Fuzzy landmark-based localization for a legged robot
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- Buschka, Pär (author)
- Örebro universitet,Institutionen för teknik,Mobile Robotics Lab
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- Saffiotti, Alessandro (author)
- Örebro universitet,Institutionen för teknik,Mobile Robotics Lab
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- Wasik, Zbigniew (author)
- Örebro universitet,Institutionen för teknik,Mobile Robotics Lab
- (creator_code:org_t)
- 2000
- 2000
- English.
- In: Proceedings, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. - 0780363485 ; , s. 1205-1210
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot's motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot's displacement, and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Datalogi
- Computer and Systems Science
Publication and Content Type
- ref (subject category)
- kon (subject category)
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