Self-localization in large-scale environments for the bremen autonomous wheelchair

  • Authors:

  • Axel Lankenau;Thomas Röfer;Bernd Krieg-Brückner

  • Affiliations:

  • Bremer Institut für Sichere Systeme, TZI, Universität Bremen, Bremen, Germany;Bremer Institut für Sichere Systeme, TZI, Universität Bremen, Bremen, Germany;Bremer Institut für Sichere Systeme, TZI, Universität Bremen, Bremen, Germany

  • Venue:
  • Spatial cognition III
  • Year:
  • 2003

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Abstract

This paper presents RouteLoc, a new approach for the absolute self-localization of mobile robots in structured large-scale environments. As experimental platform, the Bremen Autonmous Wheelchair "Rolland" is used on a 2, 176m long journey across the campus of the Universität Bremen. RouteLoc poses only very low requirements with regard to sensor input, resources (memory, computing time), and apriori knowledge.The approach is based on a hybrid topological-metric representation of the environment.It scales up very well, and is thus suitable for self-localization of service robots in large-scale environments.The evaluation of RouteLoc is done with a pure metric approach as reference method.It compares scan-matching results of laser range finder data with the position estimates of RouteLoc on a metric basis.