標題: Gaussian mixture-sound field landmark model for robot localization
作者: Wu, Li-Wei
Cheng, Chieh- Cheng
Liu, Wei-Han
Hu, Jwu-Sheng
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: GMM;robot;localization;sound field
公開日期: 2005
摘要: This investigation proposes a robust robot localization system. The system contains a novel Gaussian Mixture-Sound Field Landmark Model (GM-SFLM) and can localize the robot accurately in noisy environments. Moreover, the proposed method depends nothing on the geometry relation between source locations and two microphones; it is able to cover both near-field and far-field problems. With this proposed GM-SFLM, we can localize robot in 2-dimentional indoor environments. Furthermore, we realize the GM-SFLM into a quadruped robot system composed of an eRobot and a robot agent by using embedded Ethernet technology. The experiment demonstrates that when the robot is completely non-line-of-sight, this system still provides high detection accuracy. Additionally, the proposed method has advantages of high accuracy, low-cost, easy to implement and environmental adaptation.
URI: http://hdl.handle.net/11536/18007
ISBN: 0-7803-9044-X
期刊: 2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings
起始頁: 438
結束頁: 443
Appears in Collections:Conferences Paper