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Preliminary Results in Range-only Localization and Mapping

George A. Kantor and Sanjiv Singh
Carnegie Mellon University, Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 1818 - 1823, May, 2002

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This paper presents methods of localization using cooperating landmarks (beacons) that provide the ability to measure range only. Recent advances in radio frequency technology make it possible to measure range between inexpensive beacons and a transponder. Such a method has tremendous benefit since line of sight is not required between the beacons and the transponder, and because the data association problem can be completely avoided. If the positions of the beacons are known, measurements from multiple beacons can be combined using probability grids to provide an accurate estimate of robot location. This estimate can be improved by using Monte Carlo techniques and Kalman filters to incorporate odometry data. Similar methods can be used to solve the simultaneous localization and mapping problem (SLAM) when beacon locations are uncertain. Experimental results are presented for robot localization. Tracking and SLAM algorithms are demonstrated in simulation.

BibTeX Reference
title = {Preliminary Results in Range-only Localization and Mapping},
author = {George A. Kantor and Sanjiv Singh},
booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02)},
school = {Robotics Institute , Carnegie Mellon University},
month = {May},
year = {2002},
volume = {2},
pages = {1818 - 1823},
address = {Pittsburgh, PA},