Real Time Position Estimation for Mobile Robots by Means of Sonar Sensors

This paper presents a fast localisation algorithm for autonomous mobile agents in dynamic environments based on the definition of a new very small sized landmark type. These landmarks are calculated by obtaining the coordinates of the circular depth jimction obtained from a ring of equally spaced sonar sensors projected on a bidimensional base of a vectorial space. Finally, a pyramidal structure is used to enhance and fasten the performance of the localisation algorithm.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Cristina Urdiales, Antonio Bandera, R. Ron, Francisco Sandoval Hernández
• Keywords: Autonomous Mobile Agents, Fast Localisation Algorithm, ICRA 1999, Localisation Algorithm, Robotics