Mobile Robot Localization Using Sonar

This paper describes a method by which range data from a sonar or other type of rangefinder can be used to determine the 2-dimensional position and orientation of a mobile robot inside a room. The plan of the room is modeled as a list of segments indicating the positions of walls. The method w...

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Bibliographic Details
Main Author: Drumheller, Michael
Language:en_US
Published: 2004
Subjects:
Online Access:http://hdl.handle.net/1721.1/5625