Abstract
Humanoid robots without internal sensors (e.g. compasses) tend to lose their orientation after a fall or collision. Furthermore, artificial environments are typically rotationally symmetric, causing ambiguities in self-localization. The approach proposed here does not alter the measurement step in the robot’s self-localization. Instead it delivers confidence values for rotationally symmetric poses to the robot’s behaviour controller, which then commands the robot’s self-localization. The behaviour controller uses these confidence values and triggers commands to rearrange the self-localization’s pose beliefs within one measurement cycle. This helps the self-localization algorithm to converge to the correct pose and prevents the algorithm from getting stuck in local minima. Experiments in a symmetric environment with a simulated and a real humanoid NAO robot show that this significantly improves the system.
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Bader, M., Vincze, M. (2014). Spontaneous Reorientation for Self-localization. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds) RoboCup 2013: Robot World Cup XVII. RoboCup 2013. Lecture Notes in Computer Science(), vol 8371. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44468-9_40
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DOI: https://doi.org/10.1007/978-3-662-44468-9_40
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