Publication result detail

The Enhancement of PCSM Method by Motion History Analysis

VĚCHET, S.; KREJSA, J.; HOUŠKA, P.

Original Title

The Enhancement of PCSM Method by Motion History Analysis

English Title

The Enhancement of PCSM Method by Motion History Analysis

Type

Paper in proceedings (conference paper)

Original Abstract

This paper deals with the identification of wheel robot position and orientation when dealing with the global localization problem. We used a method called PCSM(Pre-Computed Scan Matching) for solving this problem for autonomous robot in known environment. This method was developed for small robots. The identification of the position and orientation of the robot is based on the fusion of pre-computed match data and the analysis of the history of robot motion. The paper provides information about this fast yet simple method.

English abstract

This paper deals with the identification of wheel robot position and orientation when dealing with the global localization problem. We used a method called PCSM(Pre-Computed Scan Matching) for solving this problem for autonomous robot in known environment. This method was developed for small robots. The identification of the position and orientation of the robot is based on the fusion of pre-computed match data and the analysis of the history of robot motion. The paper provides information about this fast yet simple method.

Keywords

Mobile Robots, Navigation, Localization, Mapping

Key words in English

Mobile Robots, Navigation, Localization, Mapping

Authors

VĚCHET, S.; KREJSA, J.; HOUŠKA, P.

RIV year

2010

Released

01.09.2007

Publisher

Springer

Location

Berlin

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Edition

1

Pages from

107

Pages to

110

Pages count

4

BibTex

@inproceedings{BUT30273,
  author="Stanislav {Věchet} and Jiří {Krejsa} and Pavel {Houška}",
  title="The Enhancement of PCSM Method by Motion History Analysis",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  series="1",
  number="1",
  pages="107--110",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-540-73955-5"
}