MobileRobotLocalizationandMappingusingtheKalmanFilter.pptVIP

Mobile RobotLocalization and Mappingusing the Kalman Filter 15-491 : CMRoboBits: Creating an Intelligent AIBO Robot Paul E. Rybski Mobile Robot Localization Where am I? Given a map, determine the robot’s location Landmark locations are known, but the robot’s position is not From sensor readings, the robot must be able to infer its most likely position on the field Example : where are the AIBOs on the soccer field? Mobile Robot Mapping What does the world look like? Robot is unaware of its environment The robot must explore the world and determine its structure Most often, this is combined