Sensor Resetting Localization for Poorly Modelled Mobile Robots - Robotics Institute Carnegie Mellon University

Sensor Resetting Localization for Poorly Modelled Mobile Robots

Scott Lenser and Manuela Veloso
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1225 - 1232, April, 2000

Abstract

We present a new localization algorithm, called sensor resetting localization, which is an extension of Monte Carlo localization. The algorithm adds sensor based re-sampling to Monte Carlo localization when the robot is lost. Sensor resetting localization (SRL) is robust to modelling errors including unmodelled movements and systematic errors. It can be used in real time on systems with limited computational power. The algorithm has been successfully used on autonomous legged robots in the Sony legged league of the robotic soccer competition RoboCup'99. We present results from the real robots demonstrating the success of the algorithm and results from simulation comparing SRL to Monte Carlo localization.

BibTeX

@conference{Lenser-2000-16741,
author = {Scott Lenser and Manuela Veloso},
title = {Sensor Resetting Localization for Poorly Modelled Mobile Robots},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2000},
month = {April},
volume = {2},
pages = {1225 - 1232},
}