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Authors: Francis Celeste 1 ; Frederic Dambreville 1 and Jean-Pierre Le Cadre 2

Affiliations: 1 DGA, France ; 2 IRISA/CNRS, France

Keyword(s): Path planning, Crame`r Rao Bound, map-based localization, dynamic programming.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Optimization Algorithms ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: In surveillance or exploration mission in a known environment, the localization of the dedicated sensor is of main importance. In this paper, we discuss the path planning problem for the localization algorithm which correlates range and bearing measurements and a map composed of several features. The sensor motion is designed from an information measure derived from the Fisher Information Matrix. It is shown that a closed form expression of the cost can be obtained. The optimal features location can be neatly geometrically interpreted. An integral cost which includes the sensor perception limitation is then formulated. It is used in a dynamic programming framework to tackle the path optimization problem.

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Paper citation in several formats:
Celeste, F.; Dambreville, F. and Le Cadre, J. (2008). PATH PLANNING FOR MULTIPLE FEATURES BASED LOCALIZATION. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8111-30-2; ISSN 2184-2809, SciTePress, pages 214-219. DOI: 10.5220/0001498102140219

@conference{icinco08,
author={Francis Celeste. and Frederic Dambreville. and Jean{-}Pierre {Le Cadre}.},
title={PATH PLANNING FOR MULTIPLE FEATURES BASED LOCALIZATION},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2008},
pages={214-219},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001498102140219},
isbn={978-989-8111-30-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - PATH PLANNING FOR MULTIPLE FEATURES BASED LOCALIZATION
SN - 978-989-8111-30-2
IS - 2184-2809
AU - Celeste, F.
AU - Dambreville, F.
AU - Le Cadre, J.
PY - 2008
SP - 214
EP - 219
DO - 10.5220/0001498102140219
PB - SciTePress

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