RoLoPro

Localization and Navigation for Autonomous Robots in Industrial and Service Environments Using Laser Radar

Short Description

Practical realization of a landmark-independent localization algorithm

Contact

Prof. Dr. Hartmut Noltemeier
Lehrstuhl füur Informatik I
Universität Würzburg
Am Hubland
D-97074 Würzburg
Phone: ++49 (0) 931 / 888 - 5055
Fax: ++49 (0) 931 / 888 - 4600

email: noltemei@informatik.uni-wuerzburg.de

World Wide Web

RoLoPro

Description

The goal of the Robot Localization Problem is to enumerate all locations in a given map that induce the same visibility polygon as the current position of a robot, with respect to both shape and orientation. To get the robot's visibility polygon, the laser technology has proven to be cheap and relatively robust. Guibas, Motwani, and Raghavan developed a theoretical approach to solving the problem, which we have implemented using graph and geometrical facilities of the LEDA library. Problems in practice, especially the sensor uncertainties, forced us to adapt the proposed algorithm to realistic environments and conditions. Right now, we are investigating solutions to these question.