TY - JOUR
T1 - A rapidly converging recursive method for mobile robot localization
AU - Boley, Daniel L.
AU - Sutherland, Karen T.
PY - 1998/10
Y1 - 1998/10
N2 - This paper proposes a simple method for estimating the position of a robot from relatively few sensor readings. Our algorithms are intended for applications where sensor readings are expensive or otherwise limited, and the readings that are taken are subject to considerable errors or noise. This method exhibits faster convergence with fewer measurements and greater accuracy than that exhibited by the discrete Kalman filter in this type of application. Our approach is validated with a mobile robot, on which a camera is used to obtain bearing information with respect to landmarks in the environment.
AB - This paper proposes a simple method for estimating the position of a robot from relatively few sensor readings. Our algorithms are intended for applications where sensor readings are expensive or otherwise limited, and the readings that are taken are subject to considerable errors or noise. This method exhibits faster convergence with fewer measurements and greater accuracy than that exhibited by the discrete Kalman filter in this type of application. Our approach is validated with a mobile robot, on which a camera is used to obtain bearing information with respect to landmarks in the environment.
UR - http://www.scopus.com/inward/record.url?scp=0032187603&partnerID=8YFLogxK
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U2 - 10.1177/027836499801701001
DO - 10.1177/027836499801701001
M3 - Article
AN - SCOPUS:0032187603
SN - 0278-3649
VL - 17
SP - 1027
EP - 1039
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
IS - 10
ER -