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"
}