Set membership pose estimation of mobile robots based on angle measurements

摘要

This paper addresses the problem of estimating position and orientation of a mobile robot navigating in an environment for which a landmark-based map is available. A set theoretic approach to the problem is proposed. Estimates of robot position and heading are derived in terms of uncertainty regions, under the hypothesis that the errors affecting all sensors measurements are unknown but bounded. A recursive estimation procedure for localization based on angle measurements is presented. Simulation and experimental results prove the effectiveness of the proposed approach.