Abstract
The paper proposes a method for localization of mobile robots by multiple landmark recognition. Landmarks are recognized in real time by Model-based matching method using Genetic Algorithms (GA). A mobile robot measures directions of landmarks while moving. Target landmarks are changed depending on the situation of the robot. The individuals of GA are allocated for recognizing multiple landmarks efficiently depending on the situation. The robot estimates its position by the directions of the two landmarks and its moving distance. We perform experiments using a mobile robot in a RoboCup soccer field. In the experiment, goalposts and corner posts are used as landmarks. Experimental results show the effectiveness of the method.
| Original language | English |
|---|---|
| Title of host publication | SICE Annual Conference, SICE 2007 |
| Pages | 1529-1535 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2007 |
| Externally published | Yes |
| Event | SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: Sep 17 2007 → Sep 20 2007 |
Publication series
| Name | Proceedings of the SICE Annual Conference |
|---|
Other
| Other | SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 |
|---|---|
| Country | Japan |
| City | Takamatsu |
| Period | 9/17/07 → 9/20/07 |
Keywords
- Gazing-GA
- Localization
- Resource allocation
- Visual attention
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
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Cite this
Ozawa, R., Mae, Y., & Minami, M. (2007). Localization of mobile robots by multiple landmark recognition. In SICE Annual Conference, SICE 2007 (pp. 1529-1535). [4421225] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421225