MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS

Mélanie Delafosse, Arnaud Clérentin, Laurent Delahoche, Eric Brassart

Abstract

This paper proposes to use constraint propagation on intervals to solve the mobile robot localization problem. The mobile robot is equipped with an exteroceptive sensor and dead-reckoning. These two sensors give imprecise data that are modelled by intervals. Our localization strategy is based on multi target tracking. To this aim, the data given by our two sensors are fused by constraint propagation. So, at the end of the localization process, we get a 3-D subpaving which is supposed to contain the robot’s position in a guaranteed way. The localization imprecision is naturally managed by our method.

References

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Paper Citation


in Harvard Style

Delafosse M., Clérentin A., Delahoche L. and Brassart E. (2004). MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 235-242. DOI: 10.5220/0001135502350242


in Bibtex Style

@conference{icinco04,
author={Mélanie Delafosse and Arnaud Clérentin and Laurent Delahoche and Eric Brassart},
title={MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={235-242},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001135502350242},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOBILE ROBOT LOCALIZATION BY CONSTRAINT PROPAGATION ON INTERVALS
SN - 972-8865-12-0
AU - Delafosse M.
AU - Clérentin A.
AU - Delahoche L.
AU - Brassart E.
PY - 2004
SP - 235
EP - 242
DO - 10.5220/0001135502350242