Publication detail
Mobile robots localization and path planning
VĚCHET, S. KREJSA, J.
Czech title
Lokalizace a plánování cesty mobilních robotů
English title
Mobile robots localization and path planning
Type
book chapter
Language
en
Original abstract
We developed simple but fast method for real-time localization in static environment (only static obstacles are considered) based on a popular Markov localization which can not be used in real world application due to computational demands. PCSM (Pre-computed Scan Matching) localization method was developed for small robots with low memory and low speed processors. PCSM belongs to the group of global localization algorithms which solve the problem of unknown initial position.
Czech abstract
Lokalizace a plánování cesty patří k základním problémům mobilní robotiky. Byly vyvinuta, implementována a testována metoda lokalizace robotu v reálném čase založena na metodě předpočítaných scanů a metoda plánování cesty ve známé mapě pomocí dvoustromové varianty algoritmu rychlých náhodných stromů.
English abstract
We developed simple but fast method for real-time localization in static environment (only static obstacles are considered) based on a popular Markov localization which can not be used in real world application due to computational demands. PCSM (Pre-computed Scan Matching) localization method was developed for small robots with low memory and low speed processors. PCSM belongs to the group of global localization algorithms which solve the problem of unknown initial position.
Keywords in Czech
Mobilní roboty, lokalizace, navigace
Keywords in English
Mobile robots, localization, path planning
RIV year
2006
Released
15.12.2006
Publisher
Brno University of Technology
Location
Brno
ISBN
80-214-3341-8
Book
Simulation Modelling of Mechatronic Systems II
Edition number
1
Pages from–to
149–156
Pages count
8
BIBTEX
@inbook{BUT55121,
author="Stanislav {Věchet} and Jiří {Krejsa},
title="Mobile robots localization and path planning",
booktitle="Simulation Modelling of Mechatronic Systems II",
year="2006",
month="December",
pages="149--156",
publisher="Brno University of Technology",
address="Brno",
isbn="80-214-3341-8"
}