"Localization Space" : a framework for localization and planning, for systems using a Sensor/Landmarks module

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HAL Id: inria-00072203

https://hal.inria.fr/inria-00072203

Submitted on 23 May 2006

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”Localization Space” : a framework for localization and planning, for systems using a Sensor/Landmarks module

Cédric Pradalier, Sepanta Sekhavat

To cite this version:

Cédric Pradalier, Sepanta Sekhavat. ”Localization Space” : a framework for localization and planning,

for systems using a Sensor/Landmarks module. [Research Report] RR-4385, INRIA. 2002. �inria-

00072203�

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ISRN INRIA/RR--4385--FR+ENG

a p p o r t

d e r e c h e r c h e

THÈME 3

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

“Localization Space” : a framework for localization and planning, for systems using a Sensor/Landmarks

module

Cédric Pradalier — Sepanta Sekhavat

N° 4385

Février 2002

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Unité de recherche INRIA Rhône-Alpes

655, avenue de l’Europe - 38330 Montbonnot-St-Martin (France)

Unité de recherche INRIA Lorraine : LORIA, Technopôle de Nancy-Brabois - Campus scientifique 615, rue du Jardin Botanique - BP 101 - 54602 Villers-lès-Nancy Cedex (France)

Unité de recherche INRIA Rennes : IRISA, Campus universitaire de Beaulieu - 35042 Rennes Cedex (France) Unité de recherche INRIA Rocquencourt : Domaine de Voluceau - Rocquencourt - BP 105 - 78153 Le Chesnay Cedex (France)

"Localization Space" : a framework for localization and planning, for systems using a Sensor/Landmarks module

HAL Id: inria-00072203

https://hal.inria.fr/inria-00072203

Submitted on 23 May 2006

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”Localization Space” : a framework for localization and planning, for systems using a Sensor/Landmarks module

Cédric Pradalier, Sepanta Sekhavat

To cite this version:

Cédric Pradalier, Sepanta Sekhavat. ”Localization Space” : a framework for localization and planning,

for systems using a Sensor/Landmarks module. [Research Report] RR-4385, INRIA. 2002. �inria-

00072203�

ISRN INRIA/RR--4385--FR+ENG

a p p o r t

d e r e c h e r c h e

THÈME 3

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

“Localization Space” : a framework for localization and planning, for systems using a Sensor/Landmarks

module

Cédric Pradalier — Sepanta Sekhavat

N° 4385

Février 2002

Z θ (B1)

B1

Z (B2) θ B2 Z θ (B3)

B3

R S

p θ

B Z θ (B) P(B)

B

B V θ (B)

10 20 30 40 50 60 70 80

0 2 4 6 8 10 12 14 16 18 20

Space occupied by L (%)

Number of landmarks

With landmark in W With landmark on the bordure of W only

0 10 20 30 40 50 60 70

2 4 6 8 10 12 14 16 18 20

Space occupied by L (%)

Number of landmarks

With landmark in W With landmark on the bordure of W only

θ

β y

laser beam z

x q goal

q start

Localization space (θ,β) good trajectory θ

b

a

C2 C1

2π

π

0

−π/3 0 πι/3 β

T

Angular sensitivity : 90 degrees Start Position

End Position Obstacle

Workspace boundary

Visible landmarks in the shown configuration Path Steps

Robot orientation in a particular step

Intermediary steps of the trajectory Current step and visible landmarks

Unité de recherche INRIA Rhône-Alpes

655, avenue de l’Europe - 38330 Montbonnot-St-Martin (France)

Unité de recherche INRIA Lorraine : LORIA, Technopôle de Nancy-Brabois - Campus scientifique 615, rue du Jardin Botanique - BP 101 - 54602 Villers-lès-Nancy Cedex (France)

Unité de recherche INRIA Rennes : IRISA, Campus universitaire de Beaulieu - 35042 Rennes Cedex (France) Unité de recherche INRIA Rocquencourt : Domaine de Voluceau - Rocquencourt - BP 105 - 78153 Le Chesnay Cedex (France)

Unité de recherche INRIA Sophia Antipolis : 2004, route des Lucioles - BP 93 - 06902 Sophia Antipolis Cedex (France)

Éditeur

x q _goal

q _start