Localization method for mobile robots based on landmarks
First Claim
1. A method for estimating the location and orientation of a mobile robot provided with a sensor for measuring bearings of landmarks with respect to the robot, the method comprising:
- using the sensor to measure bearings to a scanned subset of the landmarks, positions of the landmarks being given;
estimating the location and orientation of the robot with respect to the landmarks of the scanned subset based on the measured bearings;
calculating a calculated bearing to each of the landmarks of the scanned subset based on the estimated location and orientation of the robot and on the given positions of the landmarks;
finding a correction function for each of the landmarks such that when the correction function is applied to the bearing measurements to the landmarks of the scanned subset to yield corrected bearings to the landmarks of the scanned subset, when a corrected location of the robot is calculated using the corrected bearings, and when a calculated bearing is calculated using the corrected location, an error value between the measured bearings and the corrected bearings is minimized; and
applying the found correction functions to bearing measurements to the landmarks to correct bias errors in the bearing measurements by the sensors so as to determine a corrected location and the orientation of the robot.
2 Assignments
0 Petitions
Accused Products
Abstract
A method for estimating the location and orientation of a mobile robot with respect to landmarks whose positions are given using a sensor for measuring bearings of the landmarks with respect to the robot, where bias errors are present. The method comprises using the sensor to obtain bearings the landmarks. The location and orientation of the robot with respect to the landmarks is estimated, based on the measured bearings, and bias errors associated with the measured bearings are corrected to obtain corrected bearings. A correction function is used to finds the minimal sum of squared errors between measured bearings and the corrected bearings. The location and the orientation of the robot is determined to be where the sum of squared errors between measured bearings and the corrected bearings is minimal.
-
Citations
12 Claims
-
1. A method for estimating the location and orientation of a mobile robot provided with a sensor for measuring bearings of landmarks with respect to the robot, the method comprising:
-
using the sensor to measure bearings to a scanned subset of the landmarks, positions of the landmarks being given; estimating the location and orientation of the robot with respect to the landmarks of the scanned subset based on the measured bearings; calculating a calculated bearing to each of the landmarks of the scanned subset based on the estimated location and orientation of the robot and on the given positions of the landmarks; finding a correction function for each of the landmarks such that when the correction function is applied to the bearing measurements to the landmarks of the scanned subset to yield corrected bearings to the landmarks of the scanned subset, when a corrected location of the robot is calculated using the corrected bearings, and when a calculated bearing is calculated using the corrected location, an error value between the measured bearings and the corrected bearings is minimized; and applying the found correction functions to bearing measurements to the landmarks to correct bias errors in the bearing measurements by the sensors so as to determine a corrected location and the orientation of the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
Specification