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Summary: Hybrid Self Localization for a Mobile Robotic Platform for Indoor and Outdoor
Environments
Brad Grinstead, Andreas Koschan, Mongi A. Abidi
The University of Tennessee
334 Ferris Hall
1508 Middle Dr.
Knoxville, TN 37996, USA
{bgrinste, akoschan, abidi}@utk.edu
INTRODUCTION
There is an increasing demand in DOE applications for
robotic systems to perform tasks in a variety of
environments. This requires that the robots have the
ability to navigate within several types of environments.
Here work is presented on a self-localization system that
allows a robot to move between indoor and outdoor
environments.
DESCRIPTION OF ACTUAL WORK
Traditionally, robots operating in outdoor environments
use direct pose estimation measuring their location and
orientation directly through the use of instruments while
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