Tesis doctoral de Andreu Corominas Murtra
Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upperlevel service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, gps-based mobile robot localization has demonstrated insufficient performance for robust long-term navigation in urban environments. one of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can achieve goal points expressed on the map, by following in a deliberative way a previously planned route. this thesis deals with the mobile robot map-based localization issue in urban pedestrian areas. The thesis approach uses the particle filter algorithm, a well-known and widely used probabilistic and recursive method for data fusion and state estimation. The main contributions of the thesis are divided on four aspects: (1) long-term experiments of mobile robot 2d and 3d position tracking in real urban pedestrian scenarios within a full autonomous navigation framework, (2) developing a fast and accurate technique to compute on-line range observation models in 3d environments, a basic step required by the real-time performance of the developed particle filter, (3) formulation of a particle filter that integrates asynchronous data streams and (4) a theoretical proposal to solve the global localization problem in an active and cooperative way, defining cooperation as either information sharing among the robots or planning joint actions to solve a common goal.
Datos académicos de la tesis doctoral «Map-based localization for urban service mobile robotics«
- Título de la tesis: Map-based localization for urban service mobile robotics
- Autor: Andreu Corominas Murtra
- Universidad: Politécnica de catalunya
- Fecha de lectura de la tesis: 23/09/2011
Dirección y tribunal
- Director de la tesis
- Alberto Sanfeliu Cortes
- Tribunal
- Presidente del tribunal: alícia Casals gelpí
- aníbal Ollero baturone (vocal)
- pedro Lima lima (vocal)
- simon Lacroix (vocal)