Abstract
This paper summarizes a new approach for mobile robot localization based upon data from an onboard multi sensor system. Initialization of the robot posture as well as recursive in-motion posture estimation is considered. Accuracy, robustness, and long term stability of the proposed approach is demonstrated by means of long range experiments with path lengths of more than one kilometer and robot velocities of up to 1 m/sec.
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© 1998 Springer-Verlag London Limited
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Hanebeck, U.D., Schmidt, G. (1998). Mobile robot localization based on efficient processing of sensor data and set-theoretic state estimation. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112978
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DOI: https://doi.org/10.1007/BFb0112978
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