Infrastructure-Free Hierarchical Mobile Robot Global Localization in Repetitive Environments.
Zhenyu WuYufeng YueMingxing WenJun ZhangJianjun YiDanwei WangPublished in: IEEE Trans. Instrum. Meas. (2021)
Keyphrases
- mobile robot
- dynamic environments
- map building
- autonomous robots
- robotic systems
- loop closing
- robot localization
- real world
- office environment
- simultaneous localization and mapping
- autonomous navigation
- indoor environments
- obstacle avoidance
- coarse to fine
- unknown environments
- mobile robot navigation
- mobile robot localization
- visual landmarks
- hierarchical structure
- path planning
- hierarchical clustering
- motion control
- motion planning
- reinforcement learning
- dead reckoning
- genetic algorithm
- data sets