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Autonomous localization of mobile robot based on odometer and PTZ vision
NIU Guo-chen1,2 , XU Ping1 , FENG Qi1
1.Robotics Institute, Civil Aviation University of China, Tianjin 300300, China
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Abstract ��To reduce the influence of cumulative odometer localization error, an autonomous localization approach for mobile robot based on odometer and Pan-Tilt-Zoom (PTZ) vision was presented. Interrupt S-shaped searching strategy was put forward, as well as a vision localization approach based on finite automaton. The position credibility models of odometer and PTZ vision were established according to their positioning error sources. A localization framework combining odometer and PTZ vision based on real-time position credibility was designed. An application experiment of vision localization and localization using odometer and PTZ vision was carried out. The validity and practicability of the method are confirmed.
Key words ��
mobile robot
interrupt S-shaped searching strategy
credibility model
Pan-Tilt-Zoom (PTZ) vision
odometer
localization
�ո�����: 2011-04-25
��������: 2011-10-11
�������: �й����ú��վֿƼ������Ŀ(MHRD0702);�����У�����ҵ����й���ѧר��(ZXH 2009B002);�й���ѧ���л��������Ŀ(07KYM03)
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E-mail: niu_guochen@139.com
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2011, Vol. 31 
