• DOI:10.1109/70.88147
• Corpus ID: 33390595

Mobile robot localization by tracking geometric beacons

@article{Leonard1991MobileRL,
  title={Mobile robot localization by tracking geometric beacons},
  author={John J. Leonard and Hugh F. Durrant-Whyte},
  journal={IEEE Trans. Robotics Autom.},
  year={1991},
  volume={7},
  pages={376-382}
}

• J. Leonard, H. Durrant-Whyte
• Published 1 June 1991
• Computer Science
• IEEE Trans. Robotics Autom.

The application of the extended Kaman filter to the problem of mobile robot navigation in a known environment is presented. An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed. The algorithm is based on an extended Kalman filter that utilizes matches between observed geometric beacons and an a priori map of beacon locations. Two implementations of this navigation algorithm, both of which use sonar, are described. The first implementation uses a simple vehicle with point kinematics equipped with a single rotating sonar. The second implementation uses a 'Robuter' mobile robot and six static sonar transducers to provide localization information while the vehicle moves at typical speeds of 30 cm/s. >