Map-based navigation in mobile robots:: I. A review of localization strategies |
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| Institution: | 1. DGA/Centre Technique d’Arcueil, 16 bis Av Prieur de la Cote d’Or, 94114 Arcueil Cedex, France;2. AnimatLab-LIP6, 8 rue du Capitaine Scott, 75015 Paris, France;1. Communication and Information Technology Center, Mansoura University, P.O. Box: 35516, Egypt;2. Computer Engineering & Control System Dept., Mansoura University, P.O. Box: 35516, Egypt;1. Department of Electrical Energy, Systems and Automation, Ghent University, Technologiepark 914, 9052 Zwijnaarde, Belgium;2. School of Mechanical Engineering, Hanoi University of Science and Technology, Dai Co Viet street 1, Hanoi, Viet Nam;1. College of Information and Electrical Engineering, China Agricultural University, 17 Tsinghua East Road, Beijing, 100083, China;2. Beijing Engineering Technology Research Center of Internet of things in Agriculture, Bejing, China;1. The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;2. University of Chinese Academy of Sciences, Beijing 101408, China |
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| Abstract: | For a robot, an animal, and even for man, to be able to use an internal representation of the spatial layout of its environment to position itself is a very complex task, which raises numerous issues of perception, categorization and motor control that must all be solved in an integrated manner to promote survival. This point is illustrated here, within the framework of a review of localization strategies in mobile robots. The allothetic and idiothetic sensors that may be used by these robots to build internal representations of their environment, and the maps in which these representations may be instantiated, are first described. Then map-based navigation systems are categorized according to a three-level hierarchy of localization strategies, which respectively call upon direct position inference, single-hypothesis tracking, and multiple-hypothesis tracking. The advantages and drawbacks of these strategies, notably with respect to the limitations of the sensors on which they rely, are discussed throughout the text. |
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