Gaussian mixture-sound field landmark model for robot localization

Li Wei Wu*, Chieh Cheng Cheng, Wei Han Liu, Jwu-Sheng Hu

*Corresponding author for this work

研究成果: Conference contribution同行評審

4 引文 斯高帕斯(Scopus)

摘要

This investigation proposes a robust robot localization system. The system contains a novel Gaussian Mixture-Sound Field Landmark Model (GM-SFLM) and can localize the robot accurately in noisy environments. Moreover, the proposed method depends nothing on the geometry relation between source locations and two microphones; it is able to cover both near-field and far-field problems. With this proposed GM-SFLM, we can localize robot in 2-dimentional indoor environments. Furthermore, we realize the GM-SFLM into a quadruped robot system composed of an eRobot and a robot agent by using embedded Ethernet technology. The experiment demonstrates that when the robot is completely non-line-of-sight, this system still provides high detection accuracy. Additionally, the proposed method has advantages of high accuracy, low-cost, easy to implement and environmental adaptation.

原文English
主出版物標題IEEE International Conference on Mechatronics and Automation, ICMA 2005
頁面438-443
頁數6
DOIs
出版狀態Published - 17 十一月 2005
事件IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada
持續時間: 29 七月 20051 八月 2005

出版系列

名字IEEE International Conference on Mechatronics and Automation, ICMA 2005

Conference

ConferenceIEEE International Conference on Mechatronics and Automation, ICMA 2005
國家Canada
城市Niagara Falls, ON
期間29/07/051/08/05

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