Set Theoretic Localization of Fast Using an Angle Measurement Mobile Robots Technique
Uwe D. Hanebeck, Giinther Schmidt · 1996
We study the problem of localizing a mobile robot with an onboard-device making angular measurements on the location of known but undistinguishable landmarks. Noiiel algorithms are proposed for I. efficient posture initialization based on a simple linear solution and for 2. recursive posture estimation. Derived in a set theoretic framework, the algorithms cope with nonwhite, nongaussian noise and deterministic errors. Experiments with the set theoretic posture estimator demonstrate its simplicity and effectiveness in realworld applications.