NDLI: Pursuing projections: keeping a robot on path

Content Provider	IEEE Xplore Digital Library
Author	Sutherland, K.T. Thompson, W.B.
Copyright Year	1994
Description	Author affiliation: Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA (Sutherland, K.T.)
Abstract	For an autonomous robot navigating in an unstructured outdoor environment, staying close to a path is crucial to successfully reaching its goal. Although the degree of accuracy with which it estimates its own location affects its ability to stay on the path, accuracy in estimate of lateral distance from the path is far more important for successful navigation than accuracy in estimate of position along the path. Utilizing methods based only on relative angular measurements between landmarks in the environment, we draw from techniques used in statistical pattern recognition to show how landmarks can be chosen for localization which will not only give good estimate of location in spite of the measurement error, but will also keep the robot on the path. We demonstrate how identical landmark configurations can produce very different results in localizing to a path and show how simple heuristics can be used to choose the best configuration for path localization.
Starting Page	3355
Ending Page	3361
File Size	606669
Page Count	7
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351054
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Navigation Pattern recognition Computer science Measurement errors Vehicles Cities and towns Goniometers Area measurement Data analysis
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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