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Map-based localization for urban service mobile robots

AuthorsCorominas Murtra, Andreu
AdvisorMirats-Tur, Josep M. ; Sanfeliu, Alberto
Issue Date2011
PublisherUniversidad Politécnica de Cataluña
AbstractMobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upper-level service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, GPS-based mobile robot localization has demonstrated insufficient performance for robust long-term navigation in urban environments. One of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can achieve goal points expressed on the map, by following in a deliberative way a previously planned route.
DescriptionTesis presentada por Andreu Corominas Murtra en el programa de doctorado "Automàtica, Robòtica i Visió" para la obtención del titulo de Doctor y realizada en el Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
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