Localization of mobile robots by multiple landmark recognition

Ryohei Ozawa; Yasushi Mae; Mamoru Minami

doi:10.1109/SICE.2007.4421225

Localization of mobile robots by multiple landmark recognition

Ryohei Ozawa, Yasushi Mae, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	1529-1535
Number of pages	7
DOIs	https://doi.org/10.1109/SICE.2007.4421225
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

Access to Document

10.1109/SICE.2007.4421225

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Cite this

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title = "Localization of mobile robots by multiple landmark recognition",

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.",

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AU - Mae, Yasushi

AU - Minami, Mamoru

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AB - 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.

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KW - Resource allocation

KW - Visual attention

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