RT Journal Article
T1 A genetic algorithm for mobile robot localization using ultrasonic sensors
A1 Moreno Lorente, Luis Enrique
A1 Armingol Moreno, José María
A1 Garrido Bullón, Luis Santiago
A1 Escalera Hueso, Arturo de la
A1 Salichs Sánchez-Caballero, Miguel
AB 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.
PB Kluwer Academic Publishers
SN 0921-0296 (Print)
SN 1573-0409 (Online)
YR 2004
FD 2004-11
LK https://hdl.handle.net/10016/7106
UL https://hdl.handle.net/10016/7106
LA eng
DS e-Archivo
RD 19 may. 2024