Localization of mobile robots by multiple landmark recognition

Ryohei Ozawa, Yasushi Mae, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages1529-1535
Number of pages7
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: Sep 17 2007Sep 20 2007

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period9/17/079/20/07

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