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Authors: Michael Brunner 1 ; Dirk Schulz 1 and Armin B. Cremers 2

Affiliations: 1 Fraunhofer-Institute FKIE, Germany ; 2 University of Bonn, Germany

Keyword(s): Mobile robots, Position estimation, Terrain classification, Machine learning.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: Due to the varying terrain conditions in outdoor scenarios the kinematics of mobile robots is much more complex compared to indoor environments. In this paper we present an approach to predict future positions of mobile robots which considers the current terrain. Our approach uses Gaussian process regression (GPR) models to estimate future robot positions. An unscented Kalman filter (UKF) is used to project the uncertainties of the GPR estimates into the position space. The approach utilizes optimized terrain models for estimation. To decide which model to apply, a terrain classification is implemented using Gaussian process classification (GPC) models. The transitions between terrains are modeled by a 2-step Bayesian filter (BF). This allows us to assign different probabilities to distinct terrain sequences, while taking the properties of the classifier into account and coping with false classifications. Experiments showed the approach to produce better estimates than approaches considering only a single terrain model and to be competitive to other dynamic approaches. (More)

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Paper citation in several formats:
Brunner, M.; Schulz, D. and B. Cremers, A. (2010). POSITION ESTIMATION OF MOBILE ROBOTS CONSIDERING CHARACTERISTIC TERRAIN PROPERTIES. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 5-14. DOI: 10.5220/0002880200050014

@conference{icinco10,
author={Michael Brunner. and Dirk Schulz. and Armin {B. Cremers}.},
title={POSITION ESTIMATION OF MOBILE ROBOTS CONSIDERING CHARACTERISTIC TERRAIN PROPERTIES},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={5-14},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002880200050014},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - POSITION ESTIMATION OF MOBILE ROBOTS CONSIDERING CHARACTERISTIC TERRAIN PROPERTIES
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Brunner, M.
AU - Schulz, D.
AU - B. Cremers, A.
PY - 2010
SP - 5
EP - 14
DO - 10.5220/0002880200050014
PB - SciTePress

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