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A new tool to initialize global localization for a mobile robot

Abstract : Localization is the ability for a mobile robot to know its position at all times. When the initial position is unknown, the localization process has to manage several possible positions that could correspond to the real one. The main drawback of this technique is the cost of computational complexity that could be high. In this paper, we present a new way to determine the set of initial possible positions that is fast (less than 3s) and enables to start the localization process with a small number of possible positions. The consequence is that our localization process determines the real position in a fast and robust way. Experimental results show the benefits of the method.
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https://hal.archives-ouvertes.fr/hal-03007286
Contributor : Olivier Aycard Connect in order to contact the contributor
Submitted on : Monday, November 16, 2020 - 12:03:37 PM
Last modification on : Wednesday, November 3, 2021 - 4:52:33 AM
Long-term archiving on: : Wednesday, February 17, 2021 - 6:56:37 PM

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  • HAL Id : hal-03007286, version 1

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Olivier Aycard, Christophe Brouard. A new tool to initialize global localization for a mobile robot. ieee ictai, Nov 2020, Washington, United States. ⟨hal-03007286⟩

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