Pose Credibility Estimation and Self- location of Robot under Public Environment
Gao Qing-ji · Microcomputer Information · 2010
In order to solve the problem of self-location for service robots in the terminal environment, a robot localization algorithm is proposed,which is based on the credibility of global pose. First, the credibility of pose information obtained by a single sensor is defined, and the fused pose information of visual and odometer is obtained by way of this credibility to obtain more accurate pose for Robot. D-S evidence theory is introduced to evaluate the global pose, and the credibility estimation of the pose is gained. Self-localization algorithm is designed according to the credibility of global pose. The experiments of actual robot in the terminal emulation environment prove that this method is valid and robust.