Название: Reliable Robot Localization: A Constraint-Programming Approach Over Dynamical Systems
Автор: Simon Rohou, Luc Jaulin
Издательство: Wiley-ISTE
Год: 2020
Страниц: 267
Язык: английский
Формат: pdf (true)
Размер: 25.6 MB

In the field of mobile robotics, navigation is the building block of any autonomous mission. It involves several competencies, which are perception of the environment, localization of the robot with respect to a given reference frame, the cognition leading to a set of trajectory decisions and control of the actuators to achieve these decisions. The localization problem has given a tremendous impetus to the development of new technologies and algorithms, such as global navigation satellite systems (GNSSs) or a variety of Kalman filters. The challenges raised by this localization imply a wide variety of contexts, sensors and uncertainties that still gather a large part of the robotic community today.

Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization.

Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization.

This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.