Publication detail

The Enhancement of PCSM Method by Motion History Analysis

VĚCHET, S. KREJSA, J. HOUŠKA, P.

Czech title

Využití analýzy historie pohybu pro zlepšení metody PCSM

English title

The Enhancement of PCSM Method by Motion History Analysis

Type

conference paper

Language

en

Original abstract

This paper deals with the identification of wheel robot position and orientation when dealing with the global localization problem. We used a method called PCSM(Pre-Computed Scan Matching) for solving this problem for autonomous robot in known environment. This method was developed for small robots. The identification of the position and orientation of the robot is based on the fusion of pre-computed match data and the analysis of the history of robot motion. The paper provides information about this fast yet simple method.

Czech abstract

Příspěvek se zabývá řešením problému globální lokalizace pro mobilního robota. Pro úspěšnou lokalizaci robotu je použita metoda PCSM (Pre-Computed Scan Matching). Tato metoda byla vyvinuta pro malé autonomní roboty. Identifikace správné polohy a orientace robotu je založena na vhodném kombinování sensorických dat s analýzou historie pohybu robotu.

English abstract

This paper deals with the identification of wheel robot position and orientation when dealing with the global localization problem. We used a method called PCSM(Pre-Computed Scan Matching) for solving this problem for autonomous robot in known environment. This method was developed for small robots. The identification of the position and orientation of the robot is based on the fusion of pre-computed match data and the analysis of the history of robot motion. The paper provides information about this fast yet simple method.

Keywords in Czech

Mobilní roboty, navigace, lokalizace, mapování

Keywords in English

Mobile Robots, Navigation, Localization, Mapping

RIV year

2007

Released

01.09.2007

Publisher

Springer

Location

Berlin

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Edition number

1

Pages from–to

107–110

Pages count

4

BIBTEX


@inproceedings{BUT30273,
  author="Stanislav {Věchet} and Jiří {Krejsa} and Pavel {Houška},
  title="The Enhancement of PCSM Method by Motion History Analysis",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  month="September",
  pages="107--110",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-540-73955-5"
}