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"
}