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Mobile robot localization based on efficient processing of sensor data and set-theoretic state estimation

  • U. D. Hanebeck
  • G. Schmidt
Chapter 8 Sensor Data Fusion
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 232)

Abstract

This paper summarizes a new approach for mobile robot localization based upon data from an onboard multi sensor system. Initialization of the robot posture as well as recursive in-motion posture estimation is considered. Accuracy, robustness, and long term stability of the proposed approach is demonstrated by means of long range experiments with path lengths of more than one kilometer and robot velocities of up to 1 m/sec.

Keywords

Mobile Robot Service Robot Robot Posture Landmark Position Laser Data 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1998

Authors and Affiliations

  • U. D. Hanebeck
    • 1
  • G. Schmidt
    • 1
  1. 1.Institute of Automatic Control Engineering (LSR)Technical University of MunichMünchenGermany

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