ICRA 2011 Paper Abstract

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Paper TuA110.1

Ronzoni, Davide (University of Modena and Reggio Emilia), Olmi, Roberto (University of Modena and Reggio Emilia), Secchi, Cristian (Univ. of Modena & Reggio Emilia), Fantuzzi, Cesare (UniversitÓ di Modena e Reggio Emilia)

AGV Global Localization Using Indistinguishable Artificial Landmarks

Scheduled for presentation during the Regular Sessions "Localization and Mapping I" (TuA110), Tuesday, May 10, 2011, 08:20−08:35, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Localization, Range Sensing, Autonomous Navigation

Abstract

In this paper we consider the global localization problem for an industrial AGV moving in a known environment. The problem consists of determining the pose of the vehicle without any prior information about its location. The vehicle is supposed to be equipped with a laser scanner that allows to measure the range and bearing of the vehicle with respect to a set of anonymous landmarks. A map with the positions of all landmarks in the environment is available to the localization system. We propose a novel algorithm for AGV self-localization based on landmarks identification that can take into account also false detections, very common in industrial environments. The pose is computed with a single scan (2D), without any sensor fusion. The performance of the proposed strategy is shown both by simulations and experiments on real industrial plants.

 

 

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