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Absolute location by landmark extraction

Published online by Cambridge University Press:  18 April 2001

Elisabeth Connessons  and
Claire Vasiljevic
Elisabeth Connessons
Affiliation:
Laboratoire CEMIF, 40 rue du Pelvoux CE 14 55, 91 020 EVRY Cedex (France)
Claire Vasiljevic
Affiliation:
Laboratoire CEMIF, 40 rue du Pelvoux CE 14 55, 91 020 EVRY Cedex (France)
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Abstract

To limit cumulative errors due to the odometer, we propose an absolute location method based on the extraction and the use of geometrical landmarks. This method also avoids the need of prior knowledge of the robot environment (no training steps) and its specified fitting (no beacons). If different measurements of the environment around the robot taken by an ultrasonic telemeter are merged, geometrical primitives appear. They are then discriminated and rebuilt. Those primitives are the landmarks used by the locating system. Hence a set of definitions and laws have been established to conjointly use few landmarks, in order to obtain the mobile robot absolute location by triangulation.

Keywords

Absolute locationMobile robotsLandmarks
Type
Research Article
Information
Robotica , Volume 18 , Issue 5 , September 2000 , pp. 487 - 493
Copyright
© 2000 Cambridge University Press

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