Research Presentation

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Research Presentation

• Prepared by Necmi EKER

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Localization

• Is a way to position robot
• Is a key problem
• If you cant position how can the robot execute
  the command you gave
• Can be done by the way of creation a map like
  view in its memory

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Localization

• Available location information
• Relative Measurements
• Driving wheel encoders, accerelometers,
  gyroscopes
• Frequent, but increasing error
• Absolute Measurements
• Sensing GPS, vision, laser, landmarks
• Less frequent, but bounded error

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Localization
A Robot in Researching Action (1) Closed Area
(Fixed cell size rooms)
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Localization
A Robot in Researching Action (2) Closed Area
(Fixed cell size rooms)
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Localization
A Robot in Researching Action (3) Closed Area
(Fixed cell size rooms)
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Localization
An explored areas driven graph like view in the
robots memory
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Localization
A Robot in Researching Action (4) Open
Environment (one big room, plus two smaller ones)
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Localization
A Robot in Researching Action (5) Open
Environment (one big room, plus two smaller ones)
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Localization
A Robot in Researching Action (6) Open
Environment (one big room, plus two smaller ones)
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Localization
After completion of the exploration, give a path
to the robot and, EXECUTE!!!
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Localization

• References
• Information collected from
• www.negenborn.net/kal_loc/
• Images collected from
• http//rossum.sourceforge.net/ papers/Localization
  /PosPosterv4.pdf
• Other References
• http//rossum.sourceforge.net/papers/Localization/
  
• http//www.cim.mcgill.ca/yiannis/Publications/iro
  s02pdf.pdf
• http//www.cc.gatech.edu/dellaert/dhtml/home.html
  Monte20Carlo20Localization
• http//www.cs.cmu.edu/rll/guide2001/dfoxsm/html/d
  foxsm.html