Global localization using odometry

Jason M. O'Kane
In Proc. IEEE International Conference on Robotics and Automation 2006.


This paper presents a global localization technique for a robot with only linear and angular odometers. The robot, whose configuration is composed of its position and orientation, moves in a fully-known environment by alternating rotations and forward translations. We pose the problem as a discrete-time planning problem in the robot's information space, which encapsulates the uncertainty in the robot's configuration. Our contribution is to show that in any simply-connected, bounded polygonal environment, localization by odometry alone is possible, but only up to the symmetries in the environment.



  author       = {Jason M. O'Kane},
  title        = {Global localization using odometry},
  booktitle    = {Proc. IEEE International Conference on Robotics and
  year	       = {2006}

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Wed Sep 20 09:19:46 EDT 2017