A mobile robot requires the perception of its local environment for position estimation. Ultrasonic range data provide a robust description of the local environment for navigation. This article presents an ultrasonic sensor localization system for autonomous mobile robot navigation in an indoor semi-structured environment. The proposed algorithm is based upon an iterative non-linear filter, which utilizes matches between observed geometric beacons and an a-priori map of beacon locations, to correct the position and orientation of the vehicle. A non-linear filter based on a genetic algorithm as an emerging optimization method to search for optimal positions is described. The resulting self-localization module has been integrated successfully in a more complex navigation system. Experiments demonstrate the effectiveness of the proposed method in real world applications. ; Publicado
A genetic algorithm for mobile robot localization using ultrasonic sensors
2004-11-01
doi:10.1023/A:1015664517164
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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