Real Time Position Estimation for Mobile Robots by Means of Sonar Sensors
نویسندگان
چکیده
This paper presents a fast localisation algorithm for autonomous mobile agents in dynamic environments based on the definition of a new very small sized landmark type. These landmarks are calculated by obtaining the coordinates of the circular depth jimction obtained from a ring of equally spaced sonar sensors projected on a bidimensional base of a vectorial space. Finally, a pyramidal structure is used to enhance and fasten the performance of the localisation algorithm.
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تاریخ انتشار 1999