D. Fox, W. Burgard, and S. Thrun
Active Markov Localization for
Mobile Robots
Robotics and Autonomous Systems
Abstract
Localization is the problem of determining the position of a mobile robot
from sensor data. Most existing localization approaches are passive, i.e.,
they do not exploit the opportunity to control the robot's effectors during
localization. This paper proposes an active localization approach.The approach
is based on Markov localization and provides rational criteriafor (1) setting
the robot's motion direction (exploration), and (2) determiningthe pointing
direction of the sensors so as to most efficiently localizethe robot. Furthermore,
it is able to deal with noisy sensors and approximativeworld models. Theappropriateness
of our approach is demonstrated empiricallyusing a mobilerobot in a structured
office environment.
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Bibtex
@INPROCEEDINGS{Fox98Act,
AUTHOR = {Fox, D. and Burgard, W. and Thrun, S.},
TITLE = {Active Markov Localization for Mobile Robots},
JOURNAL = {Roboticsand Autonomous Systems},
VOLUME = {25},
PAGES = {195-207},
YEAR = {1998}
}