PATH PLANNING FOR MULTIPLE FEATURES BASED LOCALIZATION

Francis Celeste, Frederic Dambreville, Jean-Pierre Le Cadre

2008

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.

References

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  3. Paris, S. and Le Cadre, J.-P. (2002). Trajectory planning for terrain-aided navigation. In Fusion 2002.
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Paper Citation


in Harvard Style

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, pages 214-219. DOI: 10.5220/0001498102140219


in Bibtex Style

@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},
}


in EndNote Style

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
AU - Celeste F.
AU - Dambreville F.
AU - Le Cadre J.
PY - 2008
SP - 214
EP - 219
DO - 10.5220/0001498102140219