MATEC Web Conf.
Volume 161, 201813th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2018
|Number of page(s)||6|
|Section||Robotics and Automation|
|Published online||18 April 2018|
Map representation using hidden markov models for mobile robot localization
Bio-Robotics Laboratory, Universidad Nacional Autónoma de México (UNAM)
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This paper describes a map representation and localization system for a mobile robot based on Hidden Markov Models. These models are used not only to find a region where a mobile robot is, but also they find the orientation that it has. It is shown that an estimation of the region where the robot is located can be found using the Viterbi algorithm with quantized laser readings, i.e. symbol observations, of a Hidden Markov Model.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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