| Art der Veröffentlichung: |
Artikel in Konferenzband |
| Autor: |
Axel Lankenau, Thomas Röfer, Bernd Krieg-Brückner |
| Herausgeber: |
Christian Freksa, Wilfried Brauer, Christopher Habel, Karl F. Wender |
| Titel: |
Self-Localization in Large-Scale Environments for the Bremen Autonomous Wheelchair |
| Buch / Sammlungs-Titel: |
Spatial Cognition III |
| Band: |
2685 |
| Seite(n): |
34 – 61 |
| Serie / Reihe: |
Lecture Notes in Artificial Intelligence |
| Erscheinungsjahr: |
2003 |
| Verleger: |
Springer |
| Abstract / Kurzbeschreibung: |
This paper presents RouteLoc, a new approach for the absolute self-localization of mobile robots in structured large-scale environments. As experimental platform, the Bremen Autonmous Wheelchair "Rolland" is used on a 2,176m long journey across the campus of the Universität Bremen. RouteLoc poses only very low requirements with regard to sensor input, resources (memory, computing time), and a-priori knowledge. The approach is based on a hybrid topological-metric representation of the environment. It scales up very well, and is thus suitable for self-localization of service robots in large-scale environments. The evaluation of RouteLoc is done with a pure metric approach as reference method. It compares scan-matching results of laser range finder data with the position estimates of RouteLoc on a metric basis. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/sc02.pdf |
| Schlagworte: |
ai navigation robotics |
| Status: |
Reviewed |
| Letzte Aktualisierung: |
06. 11. 2013 |
