Sánchez Belenguer, C.; Soriano Vigueras, Á.; Vallés Miquel, M.; Vendrell Vidal, E.; Valera Fernández, Á. (2014). GEMA2:Geometrical matching analytical algorithm for fast mobile robots global self-localization. Robotics and Autonomous Systems. 62(6):855-863. https://doi.org/10.1016/j.robot.2014.01.009
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/96984
Title:
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GEMA2:Geometrical matching analytical algorithm for fast mobile robots global self-localization
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Author:
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Sánchez Belenguer, Carlos
Soriano Vigueras, Ángel
Vallés Miquel, Marina
Vendrell Vidal, Eduardo
Valera Fernández, Ángel
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UPV Unit:
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Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
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Issued date:
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Abstract:
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[EN] This paper presents a new algorithm for fast mobile robot self-localization in structured indoor environments based on geometrical and analytical matching, GEMA(2). The proposed method takes advantage of the available ...[+]
[EN] This paper presents a new algorithm for fast mobile robot self-localization in structured indoor environments based on geometrical and analytical matching, GEMA(2). The proposed method takes advantage of the available structural information to perform a geometrical matching with the environment information provided by measurements collected by a laser range finder. In contrast to other global self-localization algorithms like Monte Carlo or SLAM, GEMA(2) provides a linear cost with respect the number of measures collected, making it suitable for resource-constrained embedded systems. The proposed approach has been implemented and tested in a mobile robot with limited computational resources showing a fast converge from global self-localization. (C) 2014 Elsevier B.V. All rights reserved.
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Subjects:
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Autonomous robots
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Robot's self-localization
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Laser range finders
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Geometrical matching
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Mobile robots
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Copyrigths:
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Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
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Source:
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Robotics and Autonomous Systems. (issn:
0921-8890
)
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DOI:
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10.1016/j.robot.2014.01.009
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Publisher:
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Elsevier
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Publisher version:
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http://doi.org/10.1016/j.robot.2014.01.009
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Project ID:
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info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/
info:eu-repo/grantAgreement/MINECO//HAR2012-38391-C02-02/ES/DESARROLLO DE METODOLOGIAS DE RECOMPOSICION AUTOMATICA DE FRAGMENTOS BASADAS EN TECNICAS DE ADQUISICION, ANALISIS Y PROTOTIPADO 3D/
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Thanks:
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This work has been partially funded by FEDER-CICYT projects with references DPI2011-28507-C02-01 and HAR2012-38391-C02-02 financed by Ministerio de Ciencia e Innovacion and Ministerio de Economia y Competitividad (Spain).[+]
This work has been partially funded by FEDER-CICYT projects with references DPI2011-28507-C02-01 and HAR2012-38391-C02-02 financed by Ministerio de Ciencia e Innovacion and Ministerio de Economia y Competitividad (Spain).
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Type:
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Artículo
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