Active localization techniques for mobile robots in the real world

Abstract

Active localization is the best cost-effective technique for mobile robotics in the real world: it allows accurate positioning in different environments with great flexibility and minimal environmental impact. In this paper different techniques to reach an accurate positioning with active localization systems are presented. Static and dynamic localization paradigms have been considered separately and solutions for both cases are presented. Simulation and experimental results in real mvironments are also discussed. 1 The localization task Navigation techniques are usually divided into three main classes: z wire-guidance ( WG), zz reference landmarks guidance (LG) , and z z z dead reckoning ( D R ) . The three classes can be ranked according to different criteria, such as positioning accuracy, reliabilitmy, required computational resources, speed, flexibilitmy, environmental impact. A valid robotic navigation system, in analogy with biological counterparts, should be characterized by top performance for all the different criteria, i.e. be accurate, reliable, flexible, quick, coniputationally efficient, and requiring a minimal environmental structuration. As for the biologic counterparts, positioning is not completely effected by a single mechanism, but is the result of a cooperative activity of specialized units: e K'G, although still the most common solution in industrial applications, and a de facto standard for agv guidance, is critically flawed by limited accuracy and flexibility. 0 The main drawback of D R is that the localization error cannot be bounded but is a growing function of time [l]. The main application of DR is unknown space exploration [a], and for this activity DR remains the most used technique. The computed robot position is uncertainty erzor elliosee

DOI: 10.1109/IROS.1996.568986

Cite this paper

@inproceedings{Giuffrida1996ActiveLT, title={Active localization techniques for mobile robots in the real world}, author={Francesco Giuffrida and Pietro G. Morasso and Gianni Vercelli and Renato Zaccaria}, booktitle={IROS}, year={1996} }