Localization of a mobile robot using relative bearing measurements

  • Briechle K
  • Hanebeck U
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In this paper, the problem of recursive robot localization based on relative bearing measurements is considered, where unknown but bounded measurement uncertainties are assumed. A common approach is to approximate the resulting set of feasible states by simple-shaped bounding sets such as, e.g., axis-aligned boxes, and calculate the optimal parameters of this approximation based on the measurements and prior knowledge. In the novel approach presented here, a nonlinear transformation of the measurement equation into a higher dimensional space is performed. This yields a tight, possibly complex-shaped, bounding set in a closed-form representation whose parameters can be determined analytically for the measurement step. It is shown that the new bound is superior to commonly used outer bounds.

Author-supplied keywords

  • Angle measurements
  • Bounded uncertainty and errors in variables
  • Robot localization
  • Set-the-oretic estimation

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  • K. Briechle

  • U. D. Hanebeck

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